File content as of revision 0:9b057566f9ee:

#pragma once
#ifndef SERVO_CONTROL_H
#define SERVO_CONTROL_H
//#include <processes.h>
#include "Servo.h"

#define SERVO_PIN p21
extern BusOut leds;
template<> OS_PROCESS void Servo_control::Exec() //serial stream handling process
{
   Servo Servo_object(SERVO_PIN);
   char Servo_Command[100] = "";
   Servo_Command[99] = '\0';     
   float servo_position = 0, range = 0, degrees = 0;
   char *pEnd;
   //char output_chars[50] = "";
   
   for (;;)
   {
        
       //Servo_Command_Event.Wait();
       for(byte i = 0; i<100; i++)
       {
           SER_channel.pop(Servo_Command[i]);
            leds = 0x6;
            if(Servo_Command[i] == '\0')  //keep popping chars until a delimiter is found
                break;
            else if(Servo_Command[i] != '\0' && i == 99)
                Servo_Command[i] = '\0';
                
       }
             
        //sprintf(output_chars, "a servo command was received:\n");
        //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
        //TX_Channel.write(Servo_Command, strlen(Servo_Command)+1); //output the command for debugging
        
        if(strlen(Servo_Command) > 6)
        {
        
            if (strlen(Servo_Command) >= 20 && strstr(Servo_Command,":Calibrate")) 
            {    //Serv:Calibrate:range:degrees
                   
                    range = strtod(&Servo_Command[15], &pEnd);
                    if (range >= 0 && range <= 1 && pEnd - &Servo_Command[15] != 0)
                    {
                        const char* deg = strstr(strstr(strstr(Servo_Command,":"),":"),":");
                        degrees = strtod(deg+1, &pEnd);
                        if (degrees >= -360 && range <= 360 && (pEnd - deg) != 0)
                        {
                            //printf("Received command: Serv:Calibrate:%f:%f. \n", range, degrees);
                            Servo_object.calibrate(range,degrees);
                        }
                    }
                
            }
            
            else
            {
                servo_position = strtod(&Servo_Command[4], &pEnd); //&Servo_Command[5]
                
                //sprintf(output_chars, "servo position is %f\n", servo_position);         
                //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging

                if (servo_position >= 0 && servo_position <= 1 && (pEnd - &Servo_Command[4]) != 0) //the magic number 4 relates to the position in the string where the actual data should start
                {
                    Servo_object = servo_position;
                }
                else if (servo_position == -1) //sweep the position through range
                {
                    for(float p=0; p<1.0; p += 0.1)
                       {
                            Servo_object = p;
                            Sleep(200);
                       }
                       
                }
             }
        }
        leds = 0x6;
   }
   
   
    
}  



#endif