Finalize better reading of full string over i2c and splitting

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -10,16 +10,27 @@
 // This servo is used to wipe and clean the camera lens
 Servo windowWiperServo;
 
+// This is a variable capable of storing up to 4 items
+char instruction[32] = "";
+
+// Values for the id, and raw value of an instruction
+char * id;
+char * raw_value;
+
 void setup() {
   // Attach the wiper servo to pin 9
   windowWiperServo.attach(9);
 
+  // This is only useful for debugging
+  Serial.begin(9600);
+
   // This is the address the pi will speak to us at
-  Wire.begin(0x8);
+  Wire.begin(0x4);
   
   // Call receiveEvent when data received                
   Wire.onReceive(receiveEvent);
-  
+
+  Serial.println("Finished Setup.");  
 }
 
 // Just loop to keep the running code alive, and wait for events to happen.
@@ -28,9 +39,28 @@ void loop() {
 }
 
 // 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
-    windowWiperServo.write(pos);
+void receiveEvent(int n) {
+
+  for (int i = 0; i < n; i++) {
+    instruction[i] = Wire.read();
+    instruction[i + 1] = '\0'; //add null after ea. char
+  }
+
+  //RPi first byte is cmd byte so shift everything to the left 1 pos so temp contains our string
+  for (int i = 0; i < n; ++i)
+    instruction[i] = instruction[i + 1];
+
+  id = strtok (instruction, "-");
+  raw_value = strtok (NULL, "-");
+
+  int value = atoi(raw_value);
+
+  Serial.println(id);
+  Serial.println(value);
+
+  // Switch statements dont work on char *
+  if (strcmp(id,"WIPE") == 0) // if id, and WIPE cancel out
+  {
+    windowWiperServo.write(value);
   }
 }