//Created August 23 2006
//Heather Dewey-Hagborg
//http://www.arduino.cc

#include <ctype.h>

#define bit9600Delay 100 
#define halfBit9600Delay 50
#define bit4800Delay 188 
#define halfBit4800Delay 94 

byte tx =7;
byte rx =8;
byte SWval;
volatile boolean moveFlag=false;

void setup() {// Setup harware intterupt on pin2
attachInterrupt(0, translatorISR, RISING);
  Serial.begin(9600);
  
  pinMode(rx,INPUT);
  pinMode(tx,OUTPUT);
  digitalWrite(tx,HIGH);
  
  //digitalWrite(13,HIGH); //turn on debugging LED
  //SWprint('h');  //debugging hello
  //SWprint('i');
  //SWprint(10); //carriage return
}

void SWprint(int data)
{
  byte mask;
  Serial.println(data);
  //startbit
  digitalWrite(tx,LOW);
  delayMicroseconds(bit9600Delay);
  for (mask = 0x01; mask>0; mask <<= 1) {
    if (data & mask){ // choose bit
     digitalWrite(tx,HIGH); // send 1
    }
    else{
     digitalWrite(tx,LOW); // send 0
    }
    delayMicroseconds(bit9600Delay);
  }
  //stop bit
  digitalWrite(tx, HIGH);
  delayMicroseconds(bit9600Delay);
}

int SWprintarray(int *array,int asize)

{
    byte mask;
    int i;
    int data;
    for (i=0;i<asize;i++){
      data = array[i];
  //Serial.println(data);
  //startbit
  digitalWrite(tx,LOW);
  delayMicroseconds(bit9600Delay);
  for (mask = 0x01; mask>0; mask <<= 1) {
    if (data & mask){ // choose bit
     digitalWrite(tx,HIGH); // send 1
    }
    else{
     digitalWrite(tx,LOW); // send 0
    }
    delayMicroseconds(bit9600Delay);
  }
  //stop bit
  digitalWrite(tx, HIGH);
  delayMicroseconds(bit9600Delay);
    } 
}

int SWread()
{
  byte val = 0;
  while (digitalRead(rx));
  //wait for start bit
  if (digitalRead(rx) == LOW) {
    delayMicroseconds(halfBit9600Delay);
    for (int offset = 0; offset < 8; offset++) {
     delayMicroseconds(bit9600Delay);
     val |= digitalRead(rx) << offset;
    }
    //wait for stop bit + extra
    delayMicroseconds(bit9600Delay); 
    delayMicroseconds(bit9600Delay);
    return val;
  }
}

void loop()
{
  
    //SWval = SWread(); 
    //SWprint(toupper(SWval));
//    Serial.(SWval);
char incomingByte;
int command[64];
//////////////////////////////////////////////////
// The next part is the part that moves the stage
//////////////////////////////////////////////////

if (moveFlag){
 //command[0]='H';
//                  command[1]=':';
//                  command[2]='1';
//                  command[3]='+';
                  command[0]='M';
                  command[1]=':';
                  command[2]='1';
                  command[3]='+';
                  command[4]='P';
                  command[5]='9';
                  command[6]='0';
                  command[7]='0';
                  command[8]='0';
                  command[9]=13;
                  command[10]=10;
                  command[11]='G';                  
                  command[12]=13;
                  command[13]=10;
                  
                  SWprintarray(command,14);
                  
                  delay(6000);
                  command[0]='H';
                  command[1]=':';
                  command[2]='1';
                  command[3]='+';
                  command[4]=13;
                  command[5]=10;
                  SWprintarray(command,6);
                  
                  moveFlag=false;
              
}

/////////////////////////////////////////////////
// End of movement stage
/////////////////////////////////////////////////

if (Serial.available() > 0) {
		// read the incoming byte:
		incomingByte = Serial.read();

		// say what you got:
		Serial.print("I received: ");
		Serial.println(incomingByte, DEC);
                if(incomingByte==107){
                  
//                  SWprint('H');
//                  SWprint(':');
//                  SWprint('1');
//                  SWprint('+');
//                  SWprint(13);
//                  SWprint(10);
//                  SWprint('M');
//                  SWprint(':');
//                  SWprint('1');
//                  SWprint('+');
//                  SWprint('P');
//                  SWprint('9');
//                  SWprint('0');
//                  SWprint('0');
//                  SWprint('0');
//                  SWprint(13);
//                  SWprint(10);
//                  SWprint('G');
//                  SWprint(13);
//                  SWprint(10);
                  command[0]='H';
                  command[1]=':';
                  command[2]='1';
                  command[3]='+';
                  command[4]=13;
                  command[5]=10;
                  SWprintarray(command,6);
                   //SWprint(13);
                    //SWprint(10);
                }
	}

    
}
void translatorISR(){
moveFlag = true;
}