Cleanup slave software again.

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -1,23 +1,20 @@
-/* Sweep
- by BARRAGAN <http://barraganstudio.com>
- This example code is in the public domain.
-
- modified 8 Nov 2013
- by Scott Fitzgerald
- http://www.arduino.cc/en/Tutorial/Sweep
-*/
+/* Crawler Slave
+ *  
+ *  This code runs on the crawler i2c network
+ *  and provides a cleaner, less CPU intensive control over PWM devices.
+ */
 
 #include <Wire.h>
 #include <Servo.h>
 
-Servo myservo;  // create servo object to control a servo
-// twelve servo objects can be created on most boards
-
-int pos = 0;    // variable to store the servo position
+// This servo is used to wipe and clean the camera lens
+Servo windowWiperServo;
 
 void setup() {
-  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
+  // Attach the wiper servo to pin 9
+  windowWiperServo.attach(9);
 
+  // This is the address the pi will speak to us at
   Wire.begin(0x8);
   
   // Call receiveEvent when data received                
@@ -25,13 +22,15 @@ void setup() {
   
 }
 
+// Just loop to keep the running code alive, and wait for events to happen.
 void loop() {
-  delay(10);
+  delay(50);
 }
 
+// This method runs when we receive a message
 void receiveEvent(int howMany) {
   while (Wire.available()) { // loop through all but the last
     int pos = Wire.read(); // receive byte as a int
-    myservo.write(pos);
+    windowWiperServo.write(pos);
   }
 }