serial input and output at the same time for tacho

i want control continuous rotation servo using serial input (ie < or >) , read out showing me rpm using optical tachometer. have both codes working independently, want fuse them together. successful @ putting analog servo control tachometer, having terrible time putting serial controls place. here codes:

quote

/*
* optical tachometer
*
* uses ir led , ir phototransistor implement optical tachometer.
* ir led connected pin 13 , ran continually. status led connected

* pin 12. pin 2 (interrupt 0) connected across ir detector.
*
*
*/

int ledpin = 13;                // ir led connected digital pin 13
int statuspin = 12;             // led connected digital pin 12


volatile byte rpmcount;
volatile int status;

unsigned int rpm;

unsigned long timeold;

void rpm_fun()
{
  //each rotation, interrupt function run twice, take consideration for

  //calculating rpm
  //update count
     rpmcount++;
     
  //toggle status led  
  if (status == low) {
    status = high;
  } else {
    status = low;
  }
  digitalwrite(statuspin, status);

}

void setup()
{
  serial.begin(9600);
  //interrupt 0 digital pin 2, ir detector connected
  //triggers on falling (change high low)
  attachinterrupt(0, rpm_fun, falling);

 
  //turn on ir led
  pinmode(ledpin, output);
  digitalwrite(ledpin, high);
 
  //use statuspin flash along interrupts
  pinmode(statuspin, output);

  rpmcount = 0;
  rpm = 0;

  timeold = 0;
  status = low;
}

void loop()
{
  //update rpm every second
  delay(1000);
  //don't process interrupts during calculations
  detachinterrupt(0);
  //note 60*1000/(millis() - timeold)*rpmcount if interrupt

  //happened once per revolution instead of twice. other multiples used
  //for multi-bladed propellers or fans
  rpm = 30*1000/(millis() - timeold)*rpmcount;
  timeold = millis();
  rpmcount = 0;

 
  //write out serial port
  serial.println(rpm,dec);
 
  //restart interrupt processing
  attachinterrupt(0, rpm_fun, falling);

 }

quote

/*
* serial port continuous rotation servo - movement , speed control
* --------------
*
* alteration of control interface use < , > keys
* slew servo horn left , right.  works best with
* linux/mac terminal "screen" program.
*
* adapted continuous rotation servo (parallax)
* orfeus
* v.200910211932
*
* serial port terminal on windows used putty ssh client
*
*
*
*
*
* created 10 december 2007
* copyleft 2007 brian d. wendt
*
*
* adapted code tom igoe
*
*
*/

/** adjust these values servo , setup, if necessary **/
int servopin     =  9;    // control pin servo motor
int minpulse     =  1170;  // maximum servo speed clockwise
int maxpulse     =  1770; // maximum servo speed anticlockwise
int turnrate     =  50;  // servo turn rate increment (larger value, faster rate)
int refreshtime  =  20;   // time (ms) between pulses (50hz)

/** arduino calculate these values **/
int centerservo;         // center servo position
int pulsewidth;          // servo pulse width
int moveservo;           // raw user input
long lastpulse   = 0;    // recorded time (ms) of last pulse


void setup() {
 pinmode(servopin, output);  // set servo pin output pin
 centerservo = maxpulse - ((maxpulse - minpulse)/2);
 pulsewidth = centerservo;   // give servo stop command
 serial.begin(9600);
 serial.println("arduino serial continuous rotation servo control");
 serial.println("          by orfeus grobot.gr");
 serial.println("   press < or > move, spacebar center");
 serial.println();
}

void loop() {
 // wait serial input
 if (serial.available() > 0) {
   // read incoming byte:
   moveservo = serial.read();

   // ascii '<' 44, ascii '>' 46 (comma , period, really)
   if (moveservo == 44) { pulsewidth = pulsewidth + turnrate; }
   if (moveservo == 46) { pulsewidth = pulsewidth - turnrate; }
   if (moveservo == 32) { pulsewidth = centerservo; }

   // stop servo pulse @ min , max
   if (pulsewidth > maxpulse) { pulsewidth = maxpulse; }
   if (pulsewidth < minpulse) { pulsewidth = minpulse; }
 
    // show me keys pressed
    //serial.print("key pressed: ");
    //serial.println(moveservo);

    //print pulsewidth serial monitor (comment undebug)
    serial.print("pulse width: ");
    serial.print(pulsewidth);
    serial.println("us");
 }

 // pulse servo every 20 ms (refreshtime) current pulsewidth
 // hold servo's rotation , speed till told else.
 if (millis() - lastpulse >= refreshtime) {
   digitalwrite(servopin, high);   // start pulse
   delaymicroseconds(pulsewidth);  // pulse width
   digitalwrite(servopin, low);    // stop pulse
   lastpulse = millis();           // save time of last pulse
 }
}

/* orfeus 200910212001 */

thanks much. i've been working on while , need work.

which correct? 44 < or comma?

code: [select]

// ascii '<' 44, ascii '>' 46 (comma , period, really)
  if (moveservo == 44) { pulsewidth = pulsewidth + turnrate; }
  if (moveservo == 46) { pulsewidth = pulsewidth - turnrate; }
  if (moveservo == 32) { pulsewidth = centerservo; }
there nothing wrong with:
if(moveservo == '>') // something
and there no reason consult table find proper value, when want change value.

why sending . , , increase or decrease values? least obvious characters send. < , > or u , d make sense. . , , not.

code: [select]

void loop()
{
 //update rpm every second
 [glow]delay(1000);[/glow]

i guess it's not important real-time, huh?

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