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98.
return;
99.
set_m2_speed(byte == 127 ? -255 : -byte*2);
100.
}
101.
// A buffer to store the music that will play in the background.
102.
char music_buffer[100];
103.
// Plays a musical sequence.
104.
void do_play()
105.
{
106.
unsigned char tune_length = read_next_byte();
107.
if(check_data_byte(tune_length))
108.
return;
109.
unsigned char i;
110.
for(i=0;i<tune_length;i++)
111.
{
112.
if(i > sizeof(music_buffer)) // avoid overflow
113.
return;
114.
music_buffer[i] = read_next_byte();
115.
if(check_data_byte(music_buffer[i]))
116.
return;
117.
}
118.
// add the end of string character 0
119.
music_buffer[i] = 0;
120.
play(music_buffer);
121.
}
122.
// Clears the LCD
123.
void do_clear()
124.
{
125.
clear();
126.
}
127.
// Displays data to the screen
128.
void do_print()
129.
{
130.
unsigned char string_length = read_next_byte();
131.
if(check_data_byte(string_length))
132.
return;
133.
unsigned char i;
134.
for(i=0;i<string_length;i++)
135.
{
136.
unsigned char character;
137.
character = read_next_byte();
138.
if(check_data_byte(character))
139.
return;
140.
// Before printing to the LCD we need to go to AUTOMATIC mode.
141.
// Otherwise, we might miss characters during the lengthy LCD routines.
142.
serial_set_mode(SERIAL_AUTOMATIC);
143.
print_character(character);
144.
serial_set_mode(SERIAL_CHECK);
145.
}
146.
}
147.
// Goes to the x,y coordinates on the lcd specified by the two data bytes
148.
void do_lcd_goto_xy()
149.
{
150.
unsigned char x = read_next_byte();
151.
if(check_data_byte(x))
152.
return;
153.
unsigned char y = read_next_byte();
154.
if(check_data_byte(y))
155.
return;
156.
lcd_goto_xy(x,y);
157.
}
158.
// Runs through an automatic calibration sequence
159.
void auto_calibrate()
160.
{
161.
time_reset();
162.
set_motors(60, -60);
163.
while(get_ms() < 250)
164.
calibrate_line_sensors(IR_EMITTERS_ON);
165.
set_motors(-60, 60);
166.
while(get_ms() < 750)
167.
calibrate_line_sensors(IR_EMITTERS_ON);
168.
set_motors(60, -60);
169.
while(get_ms() < 1000)
170.
calibrate_line_sensors(IR_EMITTERS_ON);
171.
set_motors(0, 0);
172.
serial_send_blocking("c",1);
173.
}
174.
// Turns on PID according to the supplied PID constants
175.
void set_pid()
176.
{
177.
unsigned char constants[5];
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