Page 350 - 완) I MDP 프로젝트 작품 보고서(전체과 1학년)1.6

bufferedReader = new BufferedReader(new InputStreamReader(ETCSocket.getInput
Stream()));
} catch (IOException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
md = new Thread(new MetalDetector());
GpioPinDigitalOutput gunPin = gpio.provisionDigitalOutputPin(gun, PinState.LOW); //GP
IO핀 초기화
GpioPinDigitalOutput lightPin = gpio.provisionDigitalOutputPin(light, PinState.LOW); //G
PIO핀 초기화
SoftPwm.softPwmCreate(rightMotor1, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(rightMotor2, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(leftMotor1, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(leftMotor2, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo1, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo2, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo3, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo4, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo5, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo6, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo7, 0, speed); //pwm 초기화
SoftPwm.softPwmCreate(servo8, 0, speed); //pwm 초기화
Gpio.pwmSetClock(384);
Gpio.pwmSetRange(1000);// pwmFrequency in Hz = 19.2e6 Hz / pwmClock/ pwmRan
ge. //frequency 50Hz
Gpio.pwmSetMode(Gpio.PWM_MODE_MS);
String tmp = "";
while (true) {
try {
tmp = bufferedReader.readLine();
} catch (IOException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
//System.out.println(tmp);
int rightMotor = Integer.parseInt(tmp.split(",")[0].split(":")[1]);
int leftMotor = Integer.parseInt(tmp.split(",")[1].split(":")[1]);
if (tmprightMotor != rightMotor) {
switch (rightMotor) {
case -2:

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