Page 197 - 15 Dangerously Mad Projects for the Evil Genius

174 15 Dangerously Mad Projects for the Evil Genius

LISTING 13-1 (continued)

powerCount += power;
oldPosition = position;

// clip
if (power > maxPower) power = maxPower;
if (power < 0) power = 0;

checkSerial();
if (monitoring)
{
Serial.print(position); Serial.print(",");
Serial.println(velocity);
}

analogWrite(coilPin, power * objectPresent);
delayMicroseconds(D);
}

int readAmbient()
{
digitalWrite(irPin, LOW);
// allow time for LED and phototransistor to settle
delayMicroseconds(100);
int ambient = 1024 - analogRead(sensorPin);
digitalWrite(irPin, HIGH);
return ambient;
}

void checkSerial()
{
if (Serial.available())
{
char ch = Serial.read();
if (ch == 'm')
{
monitoring = ! monitoring;
}
if (ch == 'B')
{
B += 5;
Serial.println(B);
}
if (ch == 'b')
{
B -= 5;
Serial.println(B);
}
}
}