Page 221 - MDP2022-3

}

void loop() {
int action = 0;

int re1_sum = digitalRead(re1);
int re2_sum = digitalRead(re2);

if(re1_sum == 0 && re2_sum == 0){

action = 1;
}
else if(re1_sum == 1 && re2_sum == 0){
action = 2;
}
else if(re1_sum == 0 && re2_sum == 1){

action = 3;
}
else if(re1_sum == 1 && re2_sum == 1){
action = 4;
}

Serial.println(action);

//다리 움직임
switch(action) {
case 1:// 서보모터 전진 동작

for(int i=0; i<50; i++){
servo0.write(i);
servo1.write(i);
st=i;
delay(5);

}
for(int a=0; a<50; a++){
servo2.write(a);
servo3.write(a);
st=a;

delay(5);
}
for(int j=50; j>0; j--){
servo0.write(j);
servo1.write(j);

st=j;
delay(5);