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LoBrol · Oct 30, 2022 · 2aa0ca4 · 2aa0ca4
1 parent 195dd67
commit 2aa0ca4
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/LinoRoboArm.h b/LinoRoboArm.h
@@ -90,15 +90,16 @@ void LinoRoboArm::setServos(uint16_t newPositions[6]) {
 
 
 /**
- * @brief Parse input from string to specified servo position.
+ * @brief Parse input from string to specified servo position, and (if correct) save to curPos array.
+ * @param command command string
  * @return True if input valid, False if invalid.
  */
-bool LinoRoboArm::parseInput() {
+bool LinoRoboArm::parseInput(String command) {
  bool inputValid = false;
- uint8_t servo = inputString.charAt(0) - 48;
+ uint8_t servo = command.charAt(0).toInt();
  if(servo >= 0 && servo <= 6) {
  inputValid = true;
- uint16_t newPos = inputString.substring(1,4).toInt();
+ uint16_t newPos = command.substring(1,4).toInt();
  curPos[servo] = checkPos(servo, newPos);
  }
  return inputValid;

diff --git a/LinoRoboArm.ino b/LinoRoboArm.ino
@@ -4,6 +4,8 @@
 
 
 
+
+
 /* ================================================================================================================================= */
 
 
@@ -23,6 +25,8 @@ bool stringComplete = false;
 
 
 
+
+
 void serialEvent() {
  while(Serial.available()) {
  char inChar = (char)Serial.read();
@@ -48,7 +52,7 @@ void loop() {
  if(stringComplete) {
  Serial.print("Comando: ");
  Serial.println(inputString);
- arm.parseInput();
+ arm.parseInput(inputString);
  arm.setServos();
  Serial.print("Posizioni correnti: ");
  arm.printPositions();