/$ Microbot Controller methods2

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

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

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

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

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

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

on_gripperclose2(){
pointer out;
string closestr="@CLOSE\n\r";
out=malloct(strlen(closestr)+1, "c");
strtoc(closestr, out);
sersenda(out, strlen(closestr));
free(out);
dumpbuffer();
} //end on_gripperclose2
