class Bot extends PApplet {

  Serial myPort; //declare serial port
  int prevZ = 0; 

  Bot(PApplet p) { //constructor

    if (serialOn) {
      println(Serial.list());
      String portName = Serial.list()[0];               // Change this Value to fit which Serial Port it is on.
      myPort = new Serial(p, portName, 38400);
    } //serial on
  } // end Constructor



  void update() {  //check for new atPoint
    if (serialOn) {
      while (myPort.available () > 0) {
        char inByte = myPort.readChar();
        if (inByte == '#') {
          atPoint = true; // when drawbot stops at point, it sends # and triggers atPoint
          println("*****At Point*****");
        }//if byte was #
      } // if something came back from the bot
    } //serial on

      if (!serialOn) { // if not attached to drawbot, loop on instead

      atPoint = true;
    } //serial is off
  }//update

  void sendVal(float inx, float iny, float upDown) { 
    int xsend;
    int ysend;
    String xy;


    xsend = int(nf(int(inx) * multiplier, 5));  

    ysend = int(nf(int(iny) * multiplier, 5));  




    xsend += xofset;
    ysend += yofset;
    xsend = xsend * 100000;

    xy = nf(xsend + ysend, 10);


    if (prevZ != int(upDown)) {

      if (upDown == 1) {
        if (servoOn) {
          DirectCommand("+"); //moves servo, push pen onto page
        } 
        println("pen is On");
      } // if pen down 

        else if (upDown == 0) { //lift pen up
        if (servoOn) {
          DirectCommand("-"); //moves servo, push pen off page
        }// servo is on
        println("pen is Off");
      }// pen is off
      prevZ = int(upDown);
      // delay(500);
    }//if previous Z had changed

    println("point was sent");
    DirectCommand("*");
    DirectCommand(xy);

    println(inx + "," +iny);
    println("xsend = " + xsend);
    println("ysend = " + ysend);
    println("xy = " + '*' + xy);
    println("_________________________");
  }//void sendVal  


  void DirectCommand(String j) {
    if (serialOn) {
      myPort.write(j);
    }
  } //direct command
}//end Bot class