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- #include "serial.h"
- void execute_function()
- {
- int data = Serial.read();
- int param1, param2;
- Serial.println(data);
- if(data >= SET_SERVO_POS) //This means we have parameters
- {
- param1 = Serial.read();
- param2 = Serial.read();
- Serial.println(param1);
- Serial.println(param2);
- }
- //command is stored in first position of the array
- switch(data)
- {
- //parameterless functions
- case LED_ON:
- led_on(); break;
- case LED_OFF:
- led_off(); break;
- case LIFT_CANS:
- liftCans(); break;
- case GRAB_FIRST:
- grabFirst(); break;
- case SCORE:
- scoreCans(); break;
- case CLOSEWINGS:
- closeWings(); break;
- case OPENWINGS:
- openWings(); break;
- case REVERSE:
- reverse(); break;
- //two-parameter functions
- case SET_SERVO_POS:
- set_servo_position(param1, param2);
- break;
- //functions with return values
- case ISCAN:
- Serial.write(isCan()); break;
- case ISBUTTON:
- Serial.println("Trying to return button");
- Serial.write(isButton());
- break;
- default:
- Serial.println("CMD UNRECOGNIZED: ");
- Serial.println(data);
- // Command was not recognized
- break;
- }
- }
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