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Add check for start and end of command #1

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40 changes: 23 additions & 17 deletions rucicka/rucicka.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -203,23 +203,29 @@ void loop()
{
if(Serial.available() > 0)
{
float elbow = Serial.parseFloat();
float shoulder = Serial.parseFloat();
float wrist = Serial.parseFloat();
int z = Serial.parseInt();
int g = Serial.parseInt();
int wr = Serial.parseInt();
// Display position
//Serial.print("tmpx = "); Serial.print(tmpx, DEC); Serial.print("\ttmpy = "); Serial.print(tmpy, DEC); Serial.print("\ttmpz = "); Serial.print(tmpz, DEC); Serial.print("\ttmpg = "); Serial.print(tmpg, DEC); Serial.print("\ttmpwa = "); Serial.print(tmpwa, DEC); Serial.print("\ttmpwr = "); Serial.println(tmpwr, DEC);

// Move arm
//Arm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr);
move(elbow, shoulder, wrist, z, g, wr);

//delay(100);
// Pause for 100 ms between actions
lastReferenceTime = millis();
while(millis() <= (lastReferenceTime + 100)){};
if(Serial.readString() == "|")
{
float elbow = Serial.parseFloat();
float shoulder = Serial.parseFloat();
float wrist = Serial.parseFloat();
int z = Serial.parseInt();
int g = Serial.parseInt();
int wr = Serial.parseInt();
// Display position
//Serial.print("tmpx = "); Serial.print(tmpx, DEC); Serial.print("\ttmpy = "); Serial.print(tmpy, DEC); Serial.print("\ttmpz = "); Serial.print(tmpz, DEC); Serial.print("\ttmpg = "); Serial.print(tmpg, DEC); Serial.print("\ttmpwa = "); Serial.print(tmpwa, DEC); Serial.print("\ttmpwr = "); Serial.println(tmpwr, DEC);

// Move arm
//Arm(tmpx, tmpy, tmpz, tmpg, tmpwa, tmpwr);
if(Serial.readString() == "|")
{
move(elbow, shoulder, wrist, z, g, wr);

//delay(100);
// Pause for 100 ms between actions
lastReferenceTime = millis();
while(millis() <= (lastReferenceTime + 100)){};
}
}
}
//delay(1000);
}