/*_______________________________________________________________
 * 
 * U C I   C R I T T E R   S T U D Y   G R O U P
 *                L E S S O N   3
 * Working with Parallax Continuous Rotation Servos
 *                  Ron Kessler
 *               Created 5/14/2021
 * 
 * PURPOSE: 
 *  DEMO HOW TO SET CONTINUOUS ROTATION SERVO DIRECTION
 *  WITH SERIAL MONITOR
 *  
 *  Shows how to use serial monitor for intput
 *  
 *  commands: 
 *            1700uSec = CCW           Range in microseconds(usec)    Full Speed CW 1300>>>>>>>>>>>1500<<<<<<<<<<<<<<1700 Full Speed CCW
 *            1500usec = STOP
 *            1300usec = CW
 *  In the serial monitor, type in 1300, 1500, or 1700 to run servo
 *  _______________________________________________________________
 */



//---must use servo.h library that comes with Arduino IDE
#include <Servo.h>

//---instantiate new servo object
Servo myServo;

//--- store current servo direction and define pulse width
int myDirection = 1;
const int CW = 1300;      //1.3ms
const int CCW = 1700;     //1.7ms
const int STOP = 1500;    //1.5ms


void setup()
{
   //--- initialize serial monitor
    Serial.begin(9600);
    myServo.attach(10);  // control the servo on pin 10
}

void loop()
{
  //---is the serial monitor running?
  if(Serial.available() > 0)
    {
      myDirection = Serial.parseInt();      //read input
      Serial.println(myDirection);          //print code in monitor
      
      switch (myDirection)
        {
          case 1300:
            GOclockWise();
            break;
        case 1500:
            HALT();
            break;
        case 1700:
            GOcounterClockWise();
            break;

        }
    }       
}

//************ HELPER FUNCTIONS**************** 

 void GOclockWise()
 {
    myServo.write(CW);
    return;
 }

void GOcounterClockWise()
 {
    myServo.write(CCW);
    return;
 }

 void HALT()
 {
    myServo.write(STOP);
    return;
 }