class Bot extends PApplet {

  Serial myPort; //declare serial port
  int prevZ = 0; 
  int LF = 10;    // Linefeed in ASCII
  int CR = 13;

  String myString = null;

  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, 57600);
    } //serial on
  } // end Constructor



  void update() {  //check for new atPoint
    if (serialOn) {

      while (myPort.available () > 0) {
        myString = myPort.readStringUntil(LF);
        if (myString != null) {
          println("RX: "+myString);
          if (myString.startsWith("ok")) {
            atPoint = true; // when drawbot stops at point, it sends "ok" and triggers atPoint
            println("*****At Point*****");
          } 
          else {
            println("received something not ok");
          }
        }
      }
      //      while (myPort.available () > 0) {
      //        char inByte = myPort.readChar();
      //        if (inByte == 'o') {
      //          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

    float xyToA(float inx, float iny) {
    float lenA;
    lenA = sqrt(pow(PAGE0X+inx, 2)+pow(PAGE0Y+iny, 2));
    return lenA;
  }

  float xyToB(float inx, float iny) {
    float lenB;
    lenB = sqrt(pow(MOTORSEP-(PAGE0X+inx), 2)+pow(PAGE0Y+iny, 2));
    return lenB;
  }


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

    xsend=str(xyToA(inx/PPI, iny/PPI));
    ysend=str(xyToB(inx/PPI, iny/PPI));


    //xsend = nf(int(inx * multiplier), 6);  
    //ysend = nf(int(iny * multiplier), 6);  

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

    //xy = xsend+ysend;//

    //nf(xsend + ysend, 12);

    feedRate="";
    
    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

    if(upDown==1)
      feedRate="F100"; // pen is on, drawing
    else
      feedRate="F300"; // pen is off, jogging
     
    println("point was sent");
    println(inx + "," +iny);
    DirectCommand("G1 X"+xsend+" Y"+ysend+" "+feedRate);
    println("Sent: "+"G1 X"+xsend+" Y"+ysend+" "+feedRate);
    
    //DirectCommand("*");
    //DirectCommand(xy);

    // echo to processing window
    //    println("point was sent");
    //    println(inx + "," +iny);
    //    println("xsend = " + xsend);
    //    println("ysend = " + ysend);
    //    println("xy = " + '*' + xy);
    //    println("_________________________");
  }//void sendVal  


  void DirectCommand(String j) {
    if (serialOn) {
      myPort.write(j+'\n');
    }
  } //direct command

  void waitForOk() {
    boolean okd=false;
    while (true) {
      if (myPort.available() > 0)
        break;
    }
    while ((myPort.available () > 0) && (!okd)) {
      myString = myPort.readStringUntil(LF);
      if (myString != null) {
        println("RX: "+myString);
        if (myString.startsWith("ok")) {
          okd = true; // when drawbot stops at point, it sends "ok" and triggers atPoint
        } 
        else {
          println("received something not ok");
        }
      }
    }
  }
}//end Bot class