Zumo V1.2 Serial Communication

zumoMotors.ino

#include <ZumoShield.h>

// format:
// <vel_l>;<vel_r>
// input example:
// 100;100

ZumoMotors motors;

String inputString = "";
bool stringComplete = false;

void setup() {
  Serial.begin(9600);
  inputString.reserve(200);
}

void moveF(int vel_l, int vel_r) {
  motors.setLeftSpeed(vel_l);
  motors.setRightSpeed(vel_r);
}

void logVel(int vel_l, int vel_r){
  Serial.print("vel_l: ");
  Serial.println(vel_l);
  Serial.print("vel_r: ");
  Serial.println(vel_r);
}

void parseCommand(String com) {
  String part1;
  String part2;

  part1 = com.substring(0, com.indexOf(";"));
  part2 = com.substring(com.indexOf(";") + 1);

  logVel(part1.toInt(), part2.toInt());
  moveF(part1.toInt(), part2.toInt());

}


void loop() {
  if (stringComplete) {
    Serial.print("input: " + inputString);

    parseCommand(inputString);

    inputString = "";
    stringComplete = false;
  }
}

void serialEvent() {
  while (Serial.available()) {
    char inChar = (char)Serial.read();
    inputString += inChar;
    if (inChar == '\n') {
      stringComplete = true;
    }
  }
}