From c0b5d40653c2c72130dd41e187068efaae1857fe Mon Sep 17 00:00:00 2001
From: KenwoodFox <kenwood364@gmail.com>
Date: Tue, 29 Jun 2021 22:46:25 -0400
Subject: [PATCH] Cleanup slave software

---
 .../arduino/crawler_slave/crawler_slave.ino   | 24 +++++++++++--------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/crawler_software/arduino/crawler_slave/crawler_slave.ino b/crawler_software/arduino/crawler_slave/crawler_slave.ino
index b38d788..2388bec 100644
--- a/crawler_software/arduino/crawler_slave/crawler_slave.ino
+++ b/crawler_software/arduino/crawler_slave/crawler_slave.ino
@@ -7,6 +7,7 @@
  http://www.arduino.cc/en/Tutorial/Sweep
 */
 
+#include <Wire.h>
 #include <Servo.h>
 
 Servo myservo;  // create servo object to control a servo
@@ -17,17 +18,20 @@ int pos = 0;    // variable to store the servo position
 void setup() {
   myservo.attach(9);  // attaches the servo on pin 9 to the servo object
 
-  for (pos = 70; pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
-    // in steps of 1 degree
-    myservo.write(pos);              // tell servo to go to position in variable 'pos'
-    delay(15);                       // waits 15ms for the servo to reach the position
-  }
-  for (pos = 130; pos >= 70; pos -= 1) { // goes from 180 degrees to 0 degrees
-    myservo.write(pos);              // tell servo to go to position in variable 'pos'
-    delay(15);                       // waits 15ms for the servo to reach the position
-  }
+  Wire.begin(0x8);
+  
+  // Call receiveEvent when data received                
+  Wire.onReceive(receiveEvent);
+  
 }
 
 void loop() {
-  delay(1000);
+  delay(10);
+}
+
+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);
+  }
 }