VErsion of the main for the darthvader demo.

motion/src/examples/main.c

@@ -9,23 +9,38 @@
 
 int main(void)
 {
+  unsigned char cmd;
   int n_servos = 18;
   init_cm510(ASYNC);
 
   manager_init(n_servos);
-//  serial_initialize(57600);
+  serial_initialize(57600);
   action_init();
   action_set_page(31);
   action_start_page();
-//  while(is_action_running())
-//    _delay_ms(100);
-  _delay_ms(2000);
-  action_set_page(1);
-  action_start_page();
   while(is_action_running())
     _delay_ms(100);
 
-  while(1);
+  while(1)
+  {
+    scanf("%c",&cmd);// read a command from the external controller
+    switch(cmd)
+    {
+      case 'l': action_set_page(56);
+                action_start_page();
+                printf("l");
+                break;
+      case 'r': action_set_page(70);
+                action_start_page();
+                printf("r");
+                break;
+      case 's': action_stop_page();
+                printf("s");
+                while(is_action_running());
+                printf("d");
+                break;
+    }
+  }
 
 /*  if(manager_calibrate_gyro())
   {