Page 351 - 완) I MDP 프로젝트 작품 보고서(전체과 1학년)1.6

SoftPwm.softPwmWrite(rightMotor1, 0); //pwm 제어
SoftPwm.softPwmWrite(rightMotor2, speed); //pwm 제어
break;
case -1:
SoftPwm.softPwmWrite(rightMotor1, 0); //pwm 제어
SoftPwm.softPwmWrite(rightMotor2, halfspeed); //pwm 제어
break;
case 1:
SoftPwm.softPwmWrite(rightMotor1, halfspeed); //pwm 제어
SoftPwm.softPwmWrite(rightMotor2, 0); //pwm 제어
break;
case 2:
SoftPwm.softPwmWrite(rightMotor1, speed); //pwm 제어
SoftPwm.softPwmWrite(rightMotor2, 0); //pwm 제어
break;
default:
SoftPwm.softPwmWrite(rightMotor1, 0); //pwm 제어
SoftPwm.softPwmWrite(rightMotor2, 0); //pwm 제어
break;
}
}

if (tmpleftMotor != rightMotor) {
switch (leftMotor) {
case -2:
SoftPwm.softPwmWrite(leftMotor1, 0); //pwm 제어
SoftPwm.softPwmWrite(leftMotor2, speed); //pwm 제어
break;
case -1:
SoftPwm.softPwmWrite(leftMotor1, 0); //pwm 제어
SoftPwm.softPwmWrite(leftMotor2, halfspeed); //pwm 제어
break;
case 1:
SoftPwm.softPwmWrite(leftMotor1, halfspeed); //pwm 제어
SoftPwm.softPwmWrite(leftMotor2, 0); //pwm 제어
break;
case 2:
SoftPwm.softPwmWrite(leftMotor1, speed); //pwm 제어
SoftPwm.softPwmWrite(leftMotor2, 0); //pwm 제어
break;
default:

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