Page 53 - MDP2020-1

················································································ 명장양성프로젝트 【MDP】 과제발표회 자료집 Ⅰ | 47

나. 프로그램 소스코드
#include <Servo.h>
#include <SoftwareSerial.h>

#define t 10

Servo servo_0;
Servo servo_1;

Servo servo_2;
Servo servo_3;

SoftwareSerial Bluetooth(53, 52);

String dataIn = "";

int servo0Pos, servo1Pos, servo2Pos, servo3Pos; //current bluetooth servo position
int servo0Ppos, servo1Ppos, servo2Ppos, servo3Ppos; //previous bluetooth servo position'
int btDistance[4];

int sensorPin0 = A0;
int sensorPin1 = A1;
int sensorPin2 = A2;
int sensorPin3 = A3;
int arrayStep, arrayMax, countverz, Taster, stepsMax, steps, time = 1000, del = 1000,
temp;

unsigned int verz = 0;

long previousMillis1 = 0;
long previousMillis2 = 0;
long previousMillis3 = 0;

long previousMillis4 = 0;
long previousMicros = 0;
unsigned long currentMillis = millis();
unsigned long currentMicros = micros();

// arrays
int Delay[7] = {0, 0, 1, 3, 15, 60, 300};
int SensVal[4];
float dif[4], ist[4], sol[4], dir[4];
int joint0[180];

int joint1[180];
int joint2[180];