brushMotorCurrentTest_00()

void brushMotorCurrentTest_00(){
   byte response[16];
   int incomingByte = 0;   // for incoming serial data
   
   int timeOut = 40;
   int bufferPos = 0;
   byte howManyBytes = 2;
   
   cleaningMotors(primary, 30); // spin the primary motor
   
   roombaSerial.write(142); // ask for sensor data
   roombaSerial.write((int8_t)56); // ask for primary motor current, return 2 signed data bytes high byte first, -32768 to 32767 mA
   delayMicroseconds(1);
   
   
   if (roombaSerial.available() > 0) {
      // read the incoming byte:
      incomingByte = roombaSerial.read();
   }
   
   
   Serial.print("Brush Motor Current: \t");
   Serial.print(incomingByte);
   Serial.print("\tcheck\n");
   
   delay(2000);
   
}