Page 347 - 완) I MDP 프로젝트 작품 보고서(전체과 1학년)1.6

SourceDataLine sourceDataLine;
ServerSocket soundServerSocket;
Socket soundSocket;
ServerSocket ETCServerSocket;
Socket ETCSocket;
InputStream soundInputStream;
OutputStream soundOutputStream;
BufferedWriter sensorBufferedWriter;
final int speed = 100, halfspeed = 50;
boolean Ttrigger = true;
boolean Rtrigger = true;
int tmprightMotor = 0, tmpleftMotor = 0, tmpservo1 = 0, tmpservo2 = 0, tmpservo3 = 0, tmps
ervo4 = 0, tmpservo5 = 0,
tmpservo8 = 0;
final int rightMotor1 = 0, rightMotor2 = 1, leftMotor1 = 2, leftMotor2 = 3, servo1 = 4, servo2
= 5, servo3 = 6,
servo4 = 21, servo5 = 22, servo6 = 26, servo7 = 27, servo8 = 28;
final Pin gun = RaspiPin.GPIO_23, metalDetectorIn = RaspiPin.GPIO_25, light = RaspiPin.GPIO
_24;
boolean MDTrigger = true;

public static AudioFormat getaudioFormat() {
float sampleRate = 8000.0F;
int sampleSizeInBits = 8;
int channels = 1;
boolean signed = true;
boolean bigEndian = false; //리틀엔디언 사용
return new AudioFormat(sampleRate, sampleSizeInBits, channels, signed, bigEndian);
}

public void init() throws LineUnavailableException, IOException {
Ttrigger = false;
Rtrigger = false;
soundServerSocket = new ServerSocket(6209);
soundSocket = soundServerSocket.accept();
ETCServerSocket = new ServerSocket(6210);
ETCSocket = ETCServerSocket.accept();
soundOutputStream = soundSocket.getOutputStream();
soundInputStream = soundSocket.getInputStream();
sensorBufferedWriter = new BufferedWriter(new OutputStreamWriter(ETCSocket.getOutputStr
eam()));

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