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                                                      Bots / The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 7






                    192     The Ultimate Palm Robot



                                 cmd1255[7] = (char)13;
                                 cmd21[5] = (char)13;
                                 cmd2128[7] = (char)13;
                                 cmd2255[7] = (char)13;
                                 cmd31[5] = (char)13;
                                 cmd3128[7] = (char)13;
                                 cmd3255[7] = (char)13;
                               }

                               readSensor() {
                                 char c[8];
                                 int x;
                                 strtoc("BD1AD1"+(char)13, c);
                                 c[7] = (char)0;
                                 puts("Entered readSensor\n");
                                 sersenda(c, 7);
                                 rv = 0;
                                 rv = serdata();
                                 puts("rv=" + format(rv,0)+"\n");
                                 if (rv > 0) {
                                   serrecva(range, rv);
                                   range[rv] = (char)0;
                                   x = ctostr(range);
                                   puts("range=[" + format(x,0)+"]\n");
                                   text(40,85,format(x,0));
                                 } else {
                                   puts("No data on serial port\n");
                                 }
                               }

                               doJig() {
                                 sersenda(cmd1128,8);
                                 sersenda(cmd21,6);
                                 sersenda(cmd3255,8);
                                 sleep(2000);

                                 sersenda(cmd1255,8);
                                 sersenda(cmd2255,8);
                                 sersenda(cmd3255,8);
                                 sleep(3000);

                                 sersenda(cmd1128,8);









           P:\010Comp\Bots\880-6\ch07.vp
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