gistfile1.txt

void loop() 
{ 
  if (Serial.available()) 
  {
    char ch = Serial.read();
    
    switch(ch) {
      case '0'...'9':
        serialReadNum = serialReadNum * 10 + ch - '0';
        break;
      case 's':
        servo1.write(serialReadNum);
        #ifdef DEBUG
          Serial.print(serialReadNum);
        #endif
        serialReadNum = 0;
        break;
      case 'f':
        stepperDirection = FORWARD;
        moveMotorY();
        serialReadNum = 0;
        break;
      case 'b':
        stepperDirection = BACKWARD;
        moveMotorY();
        serialReadNum = 0;
        break;
      case 'l':
        stepperDirection = BACKWARD;
        moveMotorX();
        serialReadNum = 0;
        break;
      case 'r':
        stepperDirection = FORWARD;
        moveMotorX();
        serialReadNum = 0;
        break;
      case 'p': 
        initMotors();
        currentDrillDepth = minDepth;
        probeDown(); 
        break;
      case 'o':
        serialReadNum = 0;
        currentDrillDepth = minDepth;
        servo1.write(minDepth);
        delay(500);
        servo1.detach();
        #ifdef DEBUG
          Serial.println("Turned Off");
        #endif
        break;
      case 'd':
        drillDown(serialReadNum);
        serialReadNum = 0;          
        break;
      case 'w':
        delay(serialReadNum);
        serialReadNum = 0;
        break;
      case 'a':
	#ifdef DEBUG
	  Serial.println("attach motors ");
	#endif   
	Serial.println("DrillTop");
        //initMotors();
        break;
      case 'i':
        int angle = servo1.read();
        //volatile boolean probeSensor = digitalRead(sensorPin);
	Serial.println("*** INFORMATION ***");
	//Serial.print("probeSensor :");Serial.println(probeSensor==TOUCHING ? "touching" : "not touching");
	Serial.print("probeSensor :");Serial.println(analogRead(analogPin));
	Serial.print("servo angle :");Serial.println(angle);
	Serial.print("currentDrillDepth :");Serial.println(currentDrillDepth);
        break;
    }
  } 
  //AF_Stepper::refresh();
}