1 files changed, 10 insertions, 100 deletions
diff --git a/arduino_sketch/rfc4824/rfc4824.ino b/arduino_sketch/rfc4824/rfc4824.ino
index 9a5e2f6..00e8e18 100644
--- a/arduino_sketch/rfc4824/rfc4824.ino
+++ b/arduino_sketch/rfc4824/rfc4824.ino
@@ -12,6 +12,11 @@ Stepper right_arm(64,8,9,10,11);
 
 int c;
 
+int pos[16][2] = { {1,0}, {2,0}, {3,0}, {4,0}, 
+    {0,3}, {0,2}, {0,1}, {2,-1}, 
+    {3,-1}, {4,2}, {1,4}, {1,3}, 
+    {1,2}, {1,1}, {2,5}, {2,4} };
+
 void setup() {
     Serial.begin(9600);
     left_arm.setSpeed(QRT_SPEED);
@@ -100,106 +105,11 @@ void read_serial_commands() {
 void set_hex(char digit) {
     Serial.print("Going to position ");
     Serial.println(digit,HEX);
-    switch (digit) {
-        case 0x0:
-            right_arm.step(QRT_STP);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP);
-            break;
-        case 0x1:
-            right_arm.step(QRT_STP*2);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*2);
-            break;
-        case 0x2:
-            right_arm.step(QRT_STP*3);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*3);
-            break;
-        case 0x3:
-            right_arm.step(QRT_STP*4);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*4);
-            break;
-        case 0x4:
-            left_arm.step(-QRT_STP*3);
-            delay(CHAR_DELAY);
-            left_arm.step(QRT_STP*3);
-            break;
-        case 0x5:
-            left_arm.step(-QRT_STP*2);
-            delay(CHAR_DELAY);
-            left_arm.step(QRT_STP*2);
-            break;
-        case 0x6:
-            left_arm.step(-QRT_STP);
-            delay(CHAR_DELAY);
-            left_arm.step(QRT_STP);
-            break;
-        case 0x7:
-            right_arm.step(QRT_STP*2);
-            left_arm.step(QRT_STP);
-            delay(CHAR_DELAY);
-            left_arm.step(-QRT_STP);
-            right_arm.step(-QRT_STP*2);
-            break;
-        case 0x8:
-            right_arm.step(QRT_STP*3);
-            left_arm.step(QRT_STP);
-            delay(CHAR_DELAY);
-            left_arm.step(-QRT_STP);
-            right_arm.step(-QRT_STP*3);
-            break;
-        case 0x9:
-            right_arm.step(QRT_STP*4);
-            left_arm.step(-QRT_STP*2);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*4);
-            left_arm.step(QRT_STP*2);
-            break;
-        case 0xA:
-            right_arm.step(QRT_STP);
-            left_arm.step(-QRT_STP*4);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP);
-            left_arm.step(QRT_STP*4);
-            break;
-        case 0xB:
-            right_arm.step(QRT_STP);
-            left_arm.step(-QRT_STP*3);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP);
-            left_arm.step(QRT_STP*3);
-            break;
-        case 0xC:
-            right_arm.step(QRT_STP);
-            left_arm.step(-QRT_STP*2);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP);
-            left_arm.step(QRT_STP*2);
-            break;
-        case 0xD:
-            right_arm.step(QRT_STP);
-            left_arm.step(-QRT_STP);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP);
-            left_arm.step(QRT_STP);
-            break;
-        case 0xE:
-            right_arm.step(QRT_STP*2);
-            left_arm.step(-QRT_STP*5);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*2);
-            left_arm.step(QRT_STP*5);
-            break;
-        case 0xF:
-            right_arm.step(QRT_STP*2);
-            left_arm.step(-QRT_STP*4);
-            delay(CHAR_DELAY);
-            right_arm.step(-QRT_STP*2);
-            left_arm.step(QRT_STP*4);
-            break;
-    }
+    right_arm.step(QRT_STP*pos[digit][0]);
+    left_arm.step(-1*QRT_STP*pos[digit][1]);
+    delay(CHAR_DELAY);
+    left_arm.step(-1*QRT_STP*pos[digit][1]);
+    right_arm.step(QRT_STP*pos[digit][0]);
     delay(CHAR_DELAY);
     Serial.println("Returned to home position");
 }