/$ Microbot Controller methods1

dumpbuffer(){
int junk;
while(serdata()) {
	junk=serrecv();
} // end while serdata
}//end dumpbuffer

on_baseleft(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", -" + Cgetcontent(stepsize) + ", 0, 0, 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
B = B - (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_baseleft

on_baseright(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", " + Cgetcontent(stepsize) + ", 0, 0, 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
B = B + (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_baseright

on_shoulderup(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", 0, -" + Cgetcontent(stepsize) + ", 0, 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
S  = S - (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_shoulderup

on_shoulderdown(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", 0, " + Cgetcontent(stepsize) + ", 0, 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
S = S + (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_shoulderdown

on_elbowup(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", 0, 0, -" + Cgetcontent(stepsize) + ", 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
E = E - (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_elbowup

on_elbowdown(){
string stepstr;
pointer out;
stepstr="@STEP " + Cgetcontent(speed) + ", 0, 0, " + Cgetcontent(stepsize) + ", 0, 0, 0\n\r";
out=malloct(strlen(stepstr)+1, "c");
strtoc(stepstr, out);
sersenda(out, strlen(stepstr)+1);
E = E + (int)Cgetcontent(stepsize);
free(out);
dumpbuffer();
} //end on_elbowdown
