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Metal2.v0.11.connect Metal1&2.txt
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Metal2.v0.11.connect Metal1&2.txt
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void Metal2_SerialPrintBoth( char* s, bool ret=0 )
{
if ( ret )
{
Serial1.println( s );
// my_Serial.println( s );
return;
}
Serial1.print( s );
// my_Serial.print( s );
}
char i2s( char* buf, int arc )
{
int e=0;
buf[0] = 0;
if ( arc < 0 )
{
strcpy( buf, "-" );
buf++;
arc = 0-arc;
}
while ( 10<=arc )
{
char n = ' ';
n = arc - (arc/10)*10;
arc = arc/10;
buf[e] = n + '0';
e ++;
}
char n = ' ';
n = arc - (arc/10)*10;
arc = arc/10;
buf[e] = n + '0';
e ++;
for ( int i = 0; i< e/2; i++ )
{
n = buf[i];
buf[i] = buf[e-i-1];
buf[e-i-1] = n;
}
buf[e] = 0;
}
void Metal2_movecharint( char c, int i, bool ret=0 )
{
char buf[80];
buf[0] = c;
// strcpy( buf, "N " );
buf[1] = 0;
i2s( buf+1, i );
if ( ret )
Metal2_SerialPrintBoth( buf, 1 );
else
{
strcat( buf, " " );
Metal2_SerialPrintBoth( buf );
}
}
void Metal2_moveservo( int n, int arc )
{
Metal2_movecharint( '#', 25 );
Metal2_movecharint( 'G', 202);
Metal2_movecharint( 'N', n);
Metal2_movecharint( 'V', arc, 1 );
}
void Metal2_pump( bool s )
{ // ��#n M231 V1\n��
Metal2_movecharint( '#', 25 );
Metal2_movecharint( 'M', 231 );
Metal2_movecharint( 'V', s ? 1 : 0, 1 );
}
void Metal2_moveto( int x, int y, int z, int f )
{ // "#25 G0 X00 Y200 Z150 F100\n
Metal2_movecharint( '#', 25 );
Metal2_SerialPrintBoth( "G0 " );
Metal2_movecharint( 'X', x );
Metal2_movecharint( 'Y', y );
Metal2_movecharint( 'Z', z );
Metal2_movecharint( 'F', f, 1 );
}
unsigned int Metal2_squence=0, Metal2_sqnum=7*6;//0;
int Metal2_sqdir = 1, Metal2_sqidx[7*6] =
{
0 , 1 , 2 , 3 , 4 , 5 , 6 ,
/*7 , 8 , 9 , 10 , 11 , 12 , 13 ,
14 , 15 , 16 , 17 , 18 , 19 , 20 ,
21 , 22 , 23 , 24 , 25 , 26 , 27 ,
28 , 29 , 30 , 31 , 32 , 33 , 34 ,
35 , 36 , 37 , 38 , 39 , 40 , 41 ,*/
13 ,
20 ,
27 ,
34 ,
41 ,
//35 , 36 , 37 , 38 , 39 , 40 ,
40 ,
39 ,
38 ,
37 ,
36 ,
35 ,
28,21,14,7,8 , 9 , 10 , 11 , 12 ,
19 ,
26 ,
33 ,
// 29 , 30 , 31 , 32 ,
32, 31,30,29,22,15,16,17,18,25,24,23,
};
struct {
int x,y,z,f;
} *Metal2_psq, Metal2_squenceloop[7*6]
=
{
{ -113 , 316.0625 , 105 , 100 }, { -75.16666667 , 316.775 , 105 , 100 }, { -37.33333333 , 317.4875 , 105 , 100 }, { 0.5 , 318.2 , 105 , 100 }, { 38.33333333 , 319.0125 , 105 , 100 }, { 76.16666667 , 319.825 , 105 , 100 }, { 114 , 320.4375 , 105 , 100 },
{ -114.3 , 281.8625 , 97 , 100 }, { -75.96666667 , 282.445 , 97 , 100 }, { -37.63333333 , 283.0275 , 97 , 100 }, { 0.7 , 283.61 , 97 , 100 }, { 39.03333333 , 284.2725 , 97 , 100 }, { 77.36666667 , 284.935 , 97 , 100 }, { 115.7 , 285.4375 , 97 , 100 },
{ -115.7 , 247.6625 , 97 , 100 }, { -76.86666667 , 248.115 , 97 , 100 }, { -38.03333333 , 248.5675 , 97 , 100 }, { 0.8 , 249.02 , 97 , 100 }, { 39.63333333 , 249.5325 , 97 , 100 }, { 78.46666667 , 250.045 , 97 , 100 }, { 117.3 , 250.4375 , 97 , 100 },
{ -117.1 , 213.4625 , 97.5 , 100 }, { -77.76666667 , 213.785 , 97.5 , 100 }, { -38.43333333 , 214.1075 , 97.5 , 100 }, { 0.9 , 214.43 , 97.5 , 100 }, { 40.23333333 , 214.7925 , 97.5 , 100 }, { 79.56666667 , 215.155 , 97.5 , 100 }, { 118.9 , 215.4375 , 97.5 , 100 },
{ -118.6 , 179.2625 , 92 , 100 }, { -78.76666667 , 179.455 , 92 , 100 }, { -38.93333333 , 179.6475 , 92 , 100 }, { 0.9 , 179.84 , 92 , 100 }, { 40.73333333 , 180.0525 , 92 , 100 }, { 80.56666667 , 180.265 , 92 , 100 }, { 120.4 , 180.4375 , 92 , 100 },
{ -120 , 145.0625 , 92 , 100 }, { -79.83333333 , 145.125 , 92 , 100 }, { -39.66666667 , 145.1875 , 92 , 100 }, { 0.5 , 145.25 , 92 , 100 }, { 40.66666667 , 145.3125 , 92 , 100 }, { 80.83333333 , 145.375 , 92 , 100 }, { 121 , 145.4375 , 92 , 100 },
// {0, 200, 150, 100}, // 0, 20cm, 12cm
// {100, 250, 200, 100}, // 7.5cm, 25cm, 17cm
// {0,0,0,0},
}, Metal2_sqoff[7*6] =
{
{ 0 , 0 , 0 , 0 }, { 3 , 0 , 0 , 0 }, { 3 , -2 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , -1 , 0 , 0 }, { 0 , -2 , 0 , 0 }, { 0 , -5 , 0 , 0 },
{ 4 , 3 , 0 , 0 }, { 4 , 1 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , -9 , 0 , 0 },
{ 1 , 5 , 0 , 0 }, { 0 , 5 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 1 , -6 , 0 , 0 },
{ 2 , 4 , 0 , 0 }, { 0 , 5 , -2 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , -2 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , -7 , 0 , 0 },
{ 1, 2 , 0 , 0 }, { -3 , 3 , 0 , 0 }, { -2 , 2 , 0 , 0 }, { -1 , 1 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , -6 , 0 , 0 },
{ -3 , 2 , 0 , 0 }, { -3 , 0 , 0 , 0 }, { -3 , -0 , 0 , 0 }, { 0 , -1 , 0 , 0 }, { -3 , -4 , 0 , 0 }, { -2 , -2 , 0 , 0 }, { -2 , -6 , 0 , 0 },
}, Metal2_sqbackoff[7*6] =
{
{ 0 , 0 , 0 , 0 }, { -2 , 2 , 0 , 0 }, { -2 , 2 , 0 , 0 }, { -2 , 2 , 0 , 0 }, { -3 , 3 , 0 , 0 }, { -4 , 4 , 0 , 0 }, { -5 , 5 , 0 , 0 },
{ -2 , 0 , 0 , 0 }, { -5 , 3 , 0 , 0 }, { -3 , 0 , 0 , 0 }, { -4 , 0 , 0 , 0 }, { -4 , 0 , 0 , 0 }, { -5 , 0 , 0 , 0 }, { -5 , 4 , 0 , 0 },
{ 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { -3 , 0 , 0 , 0 }, { -4 , 4 , 0 , 0 },
{ 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { -1 , 3 , 0 , 0 }, { -4 , 3 , 0 , 0 },
{ 0 , 0 , 0 , 0 }, { 0 , 1 , 0 , 0 }, { 0.5 , 1 , 0 , 0 }, { 1 , 1 , 0 , 0 }, { 1.5 , 4 , 0 , 0 }, { 2 , 4 , 0 , 0 }, { -3 , 3 , 0 , 0 },
{ 2 , -2 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { -1 , -1 , 0 , 0 }, { 1 , 5 , 0 , 0 }, { 1 , 2 , 0 , 0 }, { -3 , 3 , 0 , 0 },
};
void Metal2_setup() {
Metal2_squence = 41; // sqdir = -1;
Serial1.begin(115200); // start serial port at 115200 bps
// my_Serial.begin(115200);
//uArm.setup();
/* psq = squenceloop;
while ( psq->f != 0 )
{ sqnum ++; psq ++; };*/
}
void setup() {
Metal1_setup();
Metal2_setup(); }
void Metal2_loop() {
Metal2_psq = Metal2_squenceloop + Metal2_sqidx[Metal2_squence];
int xoff = Metal2_sqoff[Metal2_sqidx[Metal2_squence]].x,
yoff = Metal2_sqoff[Metal2_sqidx[Metal2_squence]].y,
zoff = Metal2_sqoff[Metal2_sqidx[Metal2_squence]].z //-1;
+ 22;
if ( Metal2_sqdir < 0 )
{
xoff += Metal2_sqbackoff[Metal2_sqidx[Metal2_squence]].x;
yoff += Metal2_sqbackoff[Metal2_sqidx[Metal2_squence]].y;
zoff += Metal2_sqbackoff[Metal2_sqidx[Metal2_squence]].z;
}
Metal2_moveto( Metal2_psq->x + xoff, Metal2_psq->y + yoff, Metal2_psq->z + zoff - 2 - (
(Metal2_sqidx[Metal2_squence] < 28) ? (3-(Metal2_sqidx[Metal2_squence]/7))/**2*/ : 0),
// squence - 7*(squence/7) == 0 ?
// psq->f / 7 : // delay( 3000 );
Metal2_psq->f );
Metal2_squence += Metal2_sqdir;
if ( Metal2_squence == 0 )
Metal2_sqdir = 1;
if ( Metal2_squence >= Metal2_sqnum )
{ Metal2_sqdir = -1; Metal2_squence --; }
delay( 1000 );
Metal2_pump( 0 );
delay( 1000 );
int xdoff = 0,
ydoff = 0;
if ( Metal2_sqdir > 0 )
{
switch ( Metal2_squence )
{
case 5:
// xdoff = -8; ydoff = -5;
break;
}
} else {
}
Metal2_moveto( Metal2_psq->x + xoff + xdoff, Metal2_psq->y + yoff + ydoff, Metal2_psq->z + zoff - 2- 20 - (
(Metal2_sqidx[Metal2_squence] < 28) ? (4-(Metal2_sqidx[Metal2_squence]/7))/**2*/ : 0), Metal2_psq->f );
Metal2_pump( 1 );
delay( 1000 );
Metal2_moveto( Metal2_psq->x + xoff, Metal2_psq->y + yoff, Metal2_psq->z + zoff - 2- (
(Metal2_sqidx[Metal2_squence] < 28) ? (3-(Metal2_sqidx[Metal2_squence]/7))/**2*/ : 0), Metal2_psq->f );
delay( 1000 );
}
/* switch(squence%2)
{
case 0: //uArm.moveTo(0,200,150,100);
// Serial.print("#25 G0 X00 Y200 Z150 F100\n");
moveto( 0, 200, 150, 100 ); // 0, 20cm, 12cm
// moveservo( 0, 80 );
squence = 1;
break;
case 1: //uArm.moveTo(100,250,200,100);
/* Serial.print("#25 G0 X100 Y250 Z200 F100\n");
SerialPrintBoth("#25 ");
SerialPrintBoth("G202 ");
SerialPrintBoth("N0 ");
SerialPrintBoth("V100",1);*
moveto( 100, 250, 200, 100 ); // 7.5cm, 25cm, 17cm
// moveservo( 0, 100 );
squence = 0;
break;
}
delay(1000);
// squence++;
}*/
void loop() {
Metal1_loop();
Metal2_loop(); }
/*====================================================================
Metal.ino moved to here, as global.
======================================================================*/
void SerialPrintBoth( char* s, bool ret=0 )
{
if ( ret )
{
Serial.println( s );
// my_Serial.println( s );
return;
}
Serial.print( s );
// my_Serial.print( s );
}
/* duplicate.
char i2s( char* buf, int arc )
{
int e=0;
buf[0] = 0;
if ( arc < 0 )
{
strcpy( buf, "-" );
buf++;
arc = 0-arc;
}
while ( 10<=arc )
{
char n = ' ';
n = arc - (arc/10)*10;
arc = arc/10;
buf[e] = n + '0';
e ++;
}
char n = ' ';
n = arc - (arc/10)*10;
arc = arc/10;
buf[e] = n + '0';
e ++;
for ( int i = 0; i< e/2; i++ )
{
n = buf[i];
buf[i] = buf[e-i-1];
buf[e-i-1] = n;
}
buf[e] = 0;
}
*/
void movecharint( char c, int i, bool ret=0 )
{
char buf[80];
buf[0] = c;
// strcpy( buf, "N " );
buf[1] = 0;
i2s( buf+1, i );
if ( ret )
SerialPrintBoth( buf, 1 );
else
{
strcat( buf, " " );
SerialPrintBoth( buf );
}
}
void moveservo( int n, int arc )
{
movecharint( '#', 25 );
movecharint( 'G', 202);
movecharint( 'N', n);
movecharint( 'V', arc, 1 );
}
void pump( bool s )
{ // 鈥?n M231 V1\n鈥?
movecharint( '#', 25 );
movecharint( 'M', 231 );
movecharint( 'V', s ? 1 : 0, 1 );
}
void moveto( int x, int y, int z, int f )
{ // "#25 G0 X00 Y200 Z150 F100\n
movecharint( '#', 25 );
SerialPrintBoth( "G0 " );
movecharint( 'X', x );
movecharint( 'Y', y );
movecharint( 'Z', z );
movecharint( 'F', f, 1 );
}
unsigned int squence=0, sqnum=7*6;//0;
int sqdir = 1, sqidx[7*6] =
{
0 , 1 , 2 , 3 , 4 , 5 , 6 ,
/*7 , 8 , 9 , 10 , 11 , 12 , 13 ,
14 , 15 , 16 , 17 , 18 , 19 , 20 ,
21 , 22 , 23 , 24 , 25 , 26 , 27 ,
28 , 29 , 30 , 31 , 32 , 33 , 34 ,
35 , 36 , 37 , 38 , 39 , 40 , 41 ,*/
13 ,
20 ,
27 ,
34 ,
41 ,
//35 , 36 , 37 , 38 , 39 , 40 ,
40 ,
39 ,
38 ,
37 ,
36 ,
35 ,
28,21,14,7,8 , 9 , 10 , 11 , 12 ,
19 ,
26 ,
33 ,
// 29 , 30 , 31 , 32 ,
32, 31,30,29,22,15,16,17,18,25,24,23,
};
struct {
int x,y,z,f;
} *psq, squenceloop[7*6]
=
{
{ -111 , 317.5 , 100 , 100 }, { -71 , 317.5 , 100 , 100 }, { -31 , 317.5 , 100 , 100 }, { 9 , 317.5 , 100 , 100 }, { 49 , 317.5 , 100 , 100 }, { 89 , 317.5 , 100 , 100 }, { 129 , 317.5 , 100 , 100 },
{ -111 , 282 , 100 , 100 }, { -71 , 282 , 100 , 100 }, { -31 , 282 , 100 , 100 }, { 9 , 282 , 100 , 100 }, { 49 , 282 , 100 , 100 }, { 89 , 282 , 100 , 100 }, { 129 , 282 , 100 , 100 },
{ -111 , 246.5 , 100 , 100 }, { -71 , 246.5 , 100 , 100 }, { -31 , 246.5 , 100 , 100 }, { 9 , 246.5 , 100 , 100 }, { 49 , 246.5 , 100 , 100 }, { 89 , 246.5 , 100 , 100 }, { 129 , 246.5 , 100 , 100 },
{ -111 , 211 , 100 , 100 }, { -71 , 211 , 100 , 100 }, { -31 , 211 , 100 , 100 }, { 9 , 211 , 100 , 100 }, { 49 , 211 , 100 , 100 }, { 89 , 211 , 100 , 100 }, { 129 , 211 , 100 , 100 },
{ -111 , 175.5 , 100 , 100 }, { -71 , 175.5 , 100 , 100 }, { -31 , 175.5 , 100 , 100 }, { 9 , 175.5 , 100 , 100 }, { 49 , 175.5 , 100 , 100 }, { 89 , 175.5 , 100 , 100 }, { 129 , 175.5 , 100 , 100 },
{ -111 , 140 , 100 , 100 }, { -71 , 140 , 100 , 100 }, { -31 , 140 , 100 , 100 }, { 9 , 140 , 100 , 100 }, { 49 , 140 , 100 , 100 }, { 89 , 140 , 100 , 100 }, { 129 , 140 , 100 , 100 },
// {0, 200, 150, 100}, // 0, 20cm, 12cm
// {100, 250, 200, 100}, // 7.5cm, 25cm, 17cm
// {0,0,0,0},
}, sqoff[7*6] =
{
{ 2 , 3 , -1 , 0 }, { 2 , 4 , -1 , 0 }, { 3 , 3 , -1 , 0 }, { -1 , 1 , -2 , 0 }, { -1 , 1 , -1 , 0 }, { 1 , 1 , -1 , 0 }, { 1 , -1 , -1 , 0 },
{ 7 , 5 , 0 , 0 }, { 4 , 3 , 0 , 0 }, { 1 , 1 , 0 , 0 }, { -2 , 1 , 0 , 0 }, { 0 , 2 , 0 , 0 }, { -4 , -1 , 0 , 0 }, { -3 , -4 , 0 , 0 },
{ 8 , 5 , 0 , 0 }, { -1 , 10 , 0 , 0 }, { 6 , 5 , 0 , 0 }, { -2 , 3 , 0 , 0 }, { -2 , 2 , 0 , 0 }, { -2 , -3 , 0 , 0 }, { -4 , -4 , 0 , 0 },
{ 6 , 3 , 0 , 0 }, { -1 , 8 , 0 , 0 }, { -4 , 4 , 0 , 0 }, { -5 , 2 , 0 , 0 }, { -2 , 1 , 0 , 0 }, { 0 , -4 , 0 , 0 }, { -3 , -5 , 0 , 0 },
{ 4 , 2 , 0 , 0 }, { -4 , 7 , 0 , 0 }, { -5 , 4 , 0 , 0 }, { -2 , 0 , 0 , 0 }, { -4 , 3 , 0 , 0 }, { -1 , -3 , 0 , 0 }, { -4 , -6 , 0 , 0 },
{ 2 , 0 , 0 , 0 }, { -6 , 2 , 0 , 0 }, { -5 , 1 , 0 , 0 }, { -5 , 2 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { -2 , -3 , 0 , 0 }, { -4 , -8 , 0 , 0 },
}, sqbackoff[7*6] =
{
{ -2 , 0 , 0 , 0 }, { -3 , 0 , 0 , 0 }, { -4 , 0 , 0 , 0 }, { -5 , 1 , 0 , 0 }, { -6 , 2 , 0 , 0 }, { -7 , 1 , 0 , 0 }, { -8 , 0 , 0 , 0 },
{ -5 , 0 , 0 , 0 }, { -7 , 1 , 0 , 0 }, { -6 , 1 , 0 , 0 }, { -5 , 1 , 0 , 0 }, { -5 , 1 , 0 , 0 }, { -3 , 3 , 0 , 0 }, { -3 , 3 , 0 , 0 },
{ -8 , -4 , -2 , 0 }, { -6 , 0 , -2 , 0 }, { -9 , 0 , 0 , 0 }, { -2 , 0 , 0 , 0 }, { -3 , 3 , 0 , 0 }, { -2 , 4 , 0 , 0 }, { -2 , 2 , 0 , 0 },
{ -8 , -3 , -2 , 0 }, { -4 , -5 , -2 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 2 , 2 , 0 , 0 }, { -3 , 3 , 0 , 0 }, { -2 , 2 , 0 , 0 },
{ -6 , -2 , 0 , 0 }, { -2 , -5 , 0 , 0 }, { 3 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 2 , 0 , 0 , 0 }, { 0 , 2 , 0 , 0 }, { 0 , 1 , 0 , 0 },
{ -3 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 0 , 0 , 0 }, { 0 , 1 , 0 , 0 },
};
void Metal1_setup() {
squence = 8; // sqdir = -1;
Serial.begin(115200); // start serial port at 115200 bps
// my_Serial.begin(115200);
//uArm.setup();
/* psq = squenceloop;
while ( psq->f != 0 )
{ sqnum ++; psq ++; };*/
}
void Metal1_loop() {
psq = squenceloop + sqidx[squence];
int xoff = sqoff[sqidx[squence]].x,
yoff = sqoff[sqidx[squence]].y,
zoff = sqoff[sqidx[squence]].z-1;
if ( sqdir < 0 )
{
xoff += sqbackoff[sqidx[squence]].x;
yoff += sqbackoff[sqidx[squence]].y;
zoff += sqbackoff[sqidx[squence]].z;
}
moveto( psq->x + xoff, psq->y + yoff, psq->z + zoff - 2 - (
(sqidx[squence] < 28) ? (3-(sqidx[squence]/7))/**2*/ : 0),
// squence - 7*(squence/7) == 0 ?
// psq->f / 7 : // delay( 3000 );
psq->f );
squence += sqdir;
if ( squence == 0 )
sqdir = 1;
if ( squence >= sqnum )
{ sqdir = -1; squence --; }
delay( 1000 );
pump( 0 );
delay( 1000 );
int xdoff = 0,
ydoff = 0;
if ( sqdir > 0 )
{
switch ( squence )
{
case 5:
xdoff = -8; ydoff = -5;
break;
}
} else {
}
moveto( psq->x + xoff + xdoff, psq->y + yoff + ydoff, psq->z + zoff - 2- 20 - (
(sqidx[squence] < 28) ? (4-(sqidx[squence]/7))/**2*/ : 0), psq->f );
pump( 1 );
delay( 1000 );
moveto( psq->x + xoff, psq->y + yoff, psq->z + zoff - 2- (
(sqidx[squence] < 28) ? (3-(sqidx[squence]/7))/**2*/ : 0), psq->f );
delay( 1000 );
}
/* switch(squence%2)
{
case 0: //uArm.moveTo(0,200,150,100);
// Serial.print("#25 G0 X00 Y200 Z150 F100\n");
moveto( 0, 200, 150, 100 ); // 0, 20cm, 12cm
// moveservo( 0, 80 );
squence = 1;
break;
case 1: //uArm.moveTo(100,250,200,100);
/* Serial.print("#25 G0 X100 Y250 Z200 F100\n");
SerialPrintBoth("#25 ");
SerialPrintBoth("G202 ");
SerialPrintBoth("N0 ");
SerialPrintBoth("V100",1);*
moveto( 100, 250, 200, 100 ); // 7.5cm, 25cm, 17cm
// moveservo( 0, 100 );
squence = 0;
break;
}
delay(1000);
// squence++;
}*/