void MotorMaster::beginSerialInterface(int idelay) {
if (Serial.available() > 0) {
int inByte = Serial.read();
int speed; // Local variable
int delay = 100;
switch (inByte) {
case '1':
advance(delay);
break;
case '2':
back(delay);
break;
case '3':
turnR(delay);
break;
case '4':
turnL(delay);
break;
case '5':
slightL(delay);
break;
case '6':
slightR(delay);
break;
case '7':
stopp(delay);
break;
default:
break;
} // end switch
} // end if
delay(idelay);
}
void loop()
{
if(Serial.available()){
while (Serial.available()) input = Serial.read();
switch(input){
case 'A':
walk(1, 1200);
break;
case 'B':
turnR();
break;
case 'C':
backward();
break;
case 'D':
turnL();
break;
case 'E':
upDown();
break;
case 'F':
punchR();
delay(300);
break;
case 'G':
attack();
delay(300);
break;
case 'H':
punchL();
delay(300);
break;
case 'I':
queno();
break;
case 'J':
nono(1000);
break;
default:
home();
break;
}
Serial.flush();
}
else home();
}
/// Turn by a single increment for one step, in radians
void turn(double a, double e, double b){ turnR(e); turnU(a); turnF(b); }
void loop()
{
if(Serial.available()){
while (Serial.available()) input = Serial.read();
Serial.println(input);
switch(input){
case 'A':
walk(1, 750);
break;
case 'B':
turnR(1, 800);
break;
case 'C':
backward(1, 800);
break;
case 'D':
turnL(1, 800);
break;
case 'E':
tone(11, 800, 250);
delay(50);
tone(11, 1600, 250);
upDown();
break;
case 'F':
tone(11, 800, 250);
delay(50);
tone(11, 1600, 250);
punchR();
delay(250);
home();
delay(100);
break;
case 'G':
tone(11, 800, 250);
delay(50);
tone(11, 1600, 250);
attack();
delay(250);
home();
delay(100);
break;
case 'H':
tone(11, 800, 250);
delay(50);
tone(11, 1600, 250);
punchL();
delay(250);
home();
delay(100);
break;
case 'I':
ninuninu();
break;
case 'J':
mareo();
break;
default:
home();
break;
}
}
else home();
}
