Smart Servo Shield fro Arduino

/*
 # This Sample code is to test the Digital Servo Shield.
 # Editor : Leff
 # Date   : 2016-1-19
 # Ver    : 1.1
 # Product: Digital Servo Shield for Arduino
 
 # Hardwares:
 1. Arduino UNO
 2. Digital Servo Shield for Arduino
 3. Digital Servos( Compatible with AX-12,CDS55xx...etc)
 4. Power supply:6.5 - 12V
 
 # How to use:
 If you don't know your Servo ID number, please
 1. Open the serial monitor, and choose NewLine,115200
 2. Send command:'d',when it's finished, please close the monitor and re-open it
 3. Send the command according to the function //controlServo()//
*/
 
#include <SPI.h>
#include <ServoCds55.h>
ServoCds55 myservo;
 
int servoNum = 1;
char inputCommand ;         // a string to hold incoming data
boolean inputComplete = false;
 
void setup () {
  Serial.begin (115200);
  myservo.begin ();
}
 
void loop () {
  serialEvent();
  if (inputComplete) {
    Serial.print("Your command is: "); Serial.println(inputCommand); Serial.println("");
    controlServo(inputCommand);
    // clear the command:
    inputCommand = 0;
    inputComplete = false;
  }
}
 
void serialEvent() {
  while (Serial.available()) {
    char inChar = (char)Serial.read();
    if (inChar == '\n') {
      inputComplete = true;
      break;
    }
    inputCommand += inChar;
  }
}
 
void controlServo(char val) {
  switch (val) {
    case 'p':
      myservo.write(servoNum, 300); //ID:1  Pos:300  velocity:150
      delay(3000);
      myservo.write(servoNum, 0); //ID:1  Pos:0  velocity:150
      break;
    case 'v':
      myservo.setVelocity(200);// set velocity to 100(range:0-300) in Servo mode
      break;
    case 'm':
      myservo.rotate(servoNum, 150); //   Anti CW    ID:1  Velocity: 150_middle velocity  300_max
      delay(2000);
      myservo.rotate(servoNum, -150); //  CW     ID:1  Velocity: -150_middle velocity  -300_max
      delay(2000);
      myservo.rotate(servoNum, 0); //Stop
      myservo.Reset(servoNum);    //Only Dynamixel AX need this instruction while changing working mode
      //CDS55xx don't need this, it can switch freely between its working mode
      break;
    case 'r':
      myservo.Reset(servoNum);//Restore ID2 servo to factory Settings ( ID:1  Baud rate:1000000)
      break;
    //        case 'i':
    //        myservo.SetID(2,1);//ID:1   newID:2
    //        break;
    case 'd':  //Reset servo to ID>>servoNum. If you don't know your Servo ID, please send "d".
      Serial.print("Please wait..");
      for (int buf = 0; buf < 255; buf++) {
        myservo.SetID(buf, servoNum);
        if (buf % 50 == 0) Serial.print(".");
      }
      delay(2000);
      Serial.println("");   Serial.println("Please close the monitor and re-open it to play your servo! ");
      break;
    default:
      Serial.println("Please give me an available instruction:");
      Serial.println("  Servo mode: p_Set position; v_Set velocity.");
      Serial.println("  Motor mode: m_Rotate; v_Set velocity.");
      Serial.println("  Others: r_Reset servo to factory settings; i_Change servo ID."); Serial.println("");
  }
}