<commit_before>/*
 * Motor control for stepper half turns
 */

// motor pins
#define stepPin         6
#define dirPin          7
#define sensorPin       9

// speeds
#define pulseWidth       5
#define accelSteps      70
#define halfTurnSteps  200 // steps for a half turn
#define minPulse       500
#define maxPulse      2500

#define durationGlissCompensation 480

/*************************
 * communication commands
 *************************
 */
#define sReady          6
#define rEOM            0
#define rQuery          2
#define rTurn           3
#define rGliss          4
#define rTimedTurn      5
#define rDurationTurn   6
#define rDurationGliss  7
#define rForwards       8
#define rBackwards      9
#define rRecentre      10
#define rNoRecentre    11
#define rSetDuration   12
#define rReset         13
#define rDurlength      5
#define rLength        12
/*
 * ranges:
    21-39  set halfturns
    40-112 set startpitch
   120-192 set endpitch
   203-209 tests
 */

char serialIncoming[rLength];
char newDuration[rDurlength];
int halfTurns;
unsigned int duration;
float startPitch;
float endPitch;
boolean dir;
boolean recentre;
boolean newData = false;

void setup() {<commit_msg>Increase serial message length<commit_after>/*
 * Motor control for stepper half turns
 */

// motor pins
#define stepPin         6
#define dirPin          7
#define sensorPin       9

// speeds
#define pulseWidth       5
#define accelSteps      70
#define halfTurnSteps  200 // steps for a half turn
#define minPulse       500
#define maxPulse      2500

#define durationGlissCompensation 480

/*************************
 * communication commands
 *************************
 */
#define sReady          6
#define rEOM            0
#define rQuery          2
#define rTurn           3
#define rGliss          4
#define rTimedTurn      5
#define rDurationTurn   6
#define rDurationGliss  7
#define rForwards       8
#define rBackwards      9
#define rRecentre      10
#define rNoRecentre    11
#define rSetDuration   12
#define rReset         13
#define rDurlength      5
#define rLength        14
/*
 * ranges:
    21-39  set halfturns
    40-112 set startpitch
   120-192 set endpitch
   203-209 tests
 */

char serialIncoming[rLength];
char newDuration[rDurlength];
int halfTurns;
unsigned int duration;
float startPitch;
float endPitch;
boolean dir;
boolean recentre;
boolean newData = false;

void setup() {
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