출처 : 우분투 자작 NAS – 4강, Samba를 이용한 윈도우 파일 공유 - SPACE XIAN
Samba 서버 설치
$ sudo apt-get install samba
리눅스 사용자 Samba 암호 설정
이미 리눅스 사용자 중에서 Samba용 암호 생성
$ sudo smbpasswd -a bluesanta New SMB password: Retype new SMB password: Added user bluexmas.
Samba 환경 설정 - 공유 폴더 추가
$ sudo vi /etc/samba/smb.conf
[bluesanta] comment = Cloud Root path = /bluesanta/samba_root writeable = yes browseable = no valid users = bluesanta
Samba 다시 시작
$ sudo service smbd restart $ sudo service nmbd restart
출처 : CentOS JDK 설치 - 제타위키
설치 가능한 JDK 버전 확인
# yum list java*jdk-devel ...... Available Packages java-1.6.0-openjdk-devel.x86_64 1:1.6.0.41-1.13.13.1.el6_8 base java-1.7.0-openjdk-devel.x86_64 1:1.7.0.151-2.6.11.0.el6_9 updates java-1.8.0-openjdk-devel.x86_64 1:1.8.0.151-1.b12.el6_9
JDK 1.8 설치
# yum install java-1.8.0-openjdk-devel.x86_64
설치한 JDK 버전 확인
# java -version openjdk version "1.8.0_151" OpenJDK Runtime Environment (build 1.8.0_151-b12) OpenJDK 64-Bit Server VM (build 25.151-b12, mixed mode)
JAVA_HOME 환경 변수 추가
# vi /etc/profile
JAVA_HOME=/usr/lib/jvm/java-1.8.0-openjdk-1.8.0.151-1.b12.el6_9.x86_64
출처 : CentOS 아파치 설치 - 제타위키
현재 설치된 Apache 웹서버 버전 확인
# httpd -v Server version: Apache/2.2.3 Server built: Apr 3 2014 19:51:47
설치 가능한 Apache 웹서버 버전 확인
# yum list httpd ...... base | 3.7 kB 00:00 extras | 3.4 kB 00:00 updates | 3.4 kB 00:00 Available Packages httpd.x86_64 2.2.15-60.el6.centos.6 updates
Apache 웹서버 설치
# yum install httpd Loaded plugins: fastestmirror, security Setting up Install Process Loading mirror speeds from cached hostfile * base: mirror.navercorp.com * extras: mirror.navercorp.com * updates: ftp.kaist.ac.kr Resolving Dependencies --> Running transaction check ---> Package httpd.x86_64 0:2.2.15-60.el6.centos.6 will be installed --> Processing Dependency: httpd-tools = 2.2.15-60.el6.centos.6 for package: httpd-2.2.15-60.el6.centos.6.x86_64 --> Processing Dependency: apr-util-ldap for package: httpd-2.2.15-60.el6.centos.6.x86_64 --> Running transaction check ---> Package apr-util-ldap.x86_64 0:1.3.9-3.el6_0.1 will be installed ---> Package httpd-tools.x86_64 0:2.2.15-60.el6.centos.6 will be installed --> Finished Dependency Resolution Dependencies Resolved ================================================================================ Package Arch Version Repository Size ================================================================================ Installing: httpd x86_64 2.2.15-60.el6.centos.6 updates 836 k Installing for dependencies: apr-util-ldap x86_64 1.3.9-3.el6_0.1 base 15 k httpd-tools x86_64 2.2.15-60.el6.centos.6 updates 80 k Transaction Summary ================================================================================ Install 3 Package(s) Total download size: 932 k Installed size: 3.2 M Is this ok [y/N]: y Downloading Packages: (1/3): apr-util-ldap-1.3.9-3.el6_0.1.x86_64.rpm | 15 kB 00:00 (2/3): httpd-2.2.15-60.el6.centos.6.x86_64.rpm | 836 kB 00:00 (3/3): httpd-tools-2.2.15-60.el6.centos.6.x86_64.rpm | 80 kB 00:00 -------------------------------------------------------------------------------- Total 2.8 MB/s | 932 kB 00:00 Running rpm_check_debug Running Transaction Test Transaction Test Succeeded Running Transaction Installing : apr-util-ldap-1.3.9-3.el6_0.1.x86_64 1/3 Installing : httpd-tools-2.2.15-60.el6.centos.6.x86_64 2/3 Installing : httpd-2.2.15-60.el6.centos.6.x86_64 3/3 Verifying : httpd-2.2.15-60.el6.centos.6.x86_64 1/3 Verifying : httpd-tools-2.2.15-60.el6.centos.6.x86_64 2/3 Verifying : apr-util-ldap-1.3.9-3.el6_0.1.x86_64 3/3 Installed: httpd.x86_64 0:2.2.15-60.el6.centos.6 Dependency Installed: apr-util-ldap.x86_64 0:1.3.9-3.el6_0.1 httpd-tools.x86_64 0:2.2.15-60.el6.centos.6 Complete!
mod_ssl 설치
# yum -y insltall mod_ssl
Apache 웹서버 서비스 실행
# service httpd start
출처 : Android 7.0 Nougat OS 이미지 사진 촬영 캡처 및 자르기(1/2) - 허접샴푸로그래밍
Android7.0 이전 에서는 Uri.fromFile 함수로 파일의 URI 정보를 얻을 수 있지만, Android7.0 이후 부터는 보안상 이슈로 아래와 같이 설정하고, FileProvider.getUriForFile 함수를 이용해서 URI 정보를 얻어야 합니다.
/xml/provider_paths.xml 생성
<?xml version="1.0" encoding="utf-8"?>
<paths xmlns:android="http://schemas.android.com/apk/res/android">
<external-path name="storage/emulated" path="."/>
</paths>
AndroidManifest.xml 내용 추가
<provider
android:name="android.support.v4.content.FileProvider"
android:authorities="${applicationId}.provider"
android:exported="false"
android:grantUriPermissions="true">
<meta-data
android:name="android.support.FILE_PROVIDER_PATHS"
android:resource="@xml/provider_paths"/>
</provider>
...
</application>
FileProvider.getUriForFile 사용
Uri photoUri = FileProvider.getUriForFile(
getApplicationContext(),
getApplicationContext().getPackageName() + ".provider",
currentFile
);
출처 : 우분투 자작 NAS 설치하기 - (7) OwnCloud - 살만한 세상 만들기 - Tistory
우분투 리눅스 서버 16.04 LTS에서 APM설치(PHP5 설치가 안될때) - 따뜻한 커피한잔
Apache2 설치
$ sudo apt-get update $ sudo apt-get upgrade $ sudo apt-get install apache2
PHP 설치
$ sudo apt-get install php
Apache2 와 PHP 연동 모듈 설치
$ sudo apt-get install libapache2-mod-php
MySQL - PHP 연동 모듈 설치
$ sudo apt-get install php-mysql
PHP 확장 모듈 설치
$ sudo apt-get install php-gd php-json php-curl php-intl php-mcrypt php-imagick $ sudo apt-get install php-zip php-dom php-mbstring
MySQL에 OwnCloud DB와 사용자 생성
$ cd /usr/local/mysql
$ bin/mysql -u root -p
Enter password:
Welcome to the MySQL monitor. Commands end with ; or \g.
Your MySQL connection id is 3
Server version: 5.7.20-log
Copyright (c) 2000, 2017, Oracle and/or its affiliates. All rights reserved.
Oracle is a registered trademark of Oracle Corporation and/or its
affiliates. Other names may be trademarks of their respective
owners.
Type 'help;' or '\h' for help. Type '\c' to clear the current input statement.
mysql> CREATE DATABASE owncloud;
Query OK, 1 row affected (0.00 sec)
mysql> use mysql
Reading table information for completion of table and column names
You can turn off this feature to get a quicker startup with -A
Database changed
mysql> create user 'owncloud'@'localhost' identified by '***';
Query OK, 0 rows affected (0.00 sec)
mysql> GRANT ALL privileges ON owncloud.* TO 'owncloud'@'localhost' identified by '***';
Query OK, 0 rows affected, 1 warning (0.00 sec)
mysql> flush privileges;
Query OK, 0 rows affected (0.01 sec)
mysql> exit
Bye
$
OwnCloud 설치
$ wget https://download.owncloud.org/community/owncloud-10.0.3.tar.bz2 $ tar jxvf owncloud-10.0.3.tar.bz2 $ sudo mv owncloud /var/www $ sudo chown -R www-data:www-data /var/www/owncloud
Apache2에 경로 추가
$ sudo vi /etc/apache2/apache2.conf
Alias /cloud "/var/www/owncloud"
# ownCloud
<Directory /var/www/owncloud>
Options FollowSymLinks
AllowOverride All
Require all granted
</Directory>
PHP환경파일(php.ini) - MySQL 정보 설정
Message: mysqli::real_connect(): (HY000/2002): No such file or directory 오류 발생시 적용
$ sudo vi /etc/php/7.0/apache2/php.ini
pdo_mysql.default_socket=/usr/local/mysql/mysql.sock
Apache2 재시작
$ sudo service apache2 restart
---------------------------------------------------------------------------------------
가상경로로 사용하는 경우 (참고용)
---------------------------------------------------------------------------------------
OwnCloud 설치
$ cd /etc/apache2/sites-available $ sudo cp 000-default.conf owncloud.conf
owncloud.conf 수정
$ sudo vi /etc/apache2/sites-available/owncloud.conf
DocumentRoot /var/www/owncloud
a2dissite
$ sudo a2ensite owncloud.conf Enabling site owncloud. To activate the new configuration, you need to run: service apache2 reload
a2dissite
$ sudo a2dissite owncloud.conf Site owncloud disabled. To activate the new configuration, you need to run: service apache2 reload
출처 : Ubuntu 14.04에 새로운 하드디스크 추가 및 포맷후 자동 마운트 설정
디스크 확인
$ sudo fdisk -l Disk /dev/sda: 119.2 GiB, 128035676160 bytes, 250069680 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 512 bytes I/O size (minimum/optimal): 512 bytes / 512 bytes Disklabel type: gpt Disk identifier: 9AE56DAA-6072-4BF2-B94C-7CDEA00F4BD6 Device Start End Sectors Size Type /dev/sda1 2048 1050623 1048576 512M EFI System /dev/sda2 1050624 233578495 232527872 110.9G Linux filesystem /dev/sda3 233578496 250068991 16490496 7.9G Linux swap Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Device Boot Start End Sectors Size Id Type /dev/sdb1 2048 4982527 4980480 2.4G fd Linux raid autodetect /dev/sdb2 4982528 9176831 4194304 2G fd Linux raid autodetect /dev/sdb3 9437184 3906824351 3897387168 1.8T fd Linux raid autodetect
파티션 삭제
bluesanta@bluesanta-ubuntu:~$ sudo fdisk /dev/sdb Welcome to fdisk (util-linux 2.27.1). Changes will remain in memory only, until you decide to write them. Be careful before using the write command. Command (m for help): p Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Device Boot Start End Sectors Size Id Type /dev/sdb1 2048 4982527 4980480 2.4G fd Linux raid autodetect /dev/sdb2 4982528 9176831 4194304 2G fd Linux raid autodetect /dev/sdb3 9437184 3906824351 3897387168 1.8T fd Linux raid autodetect Command (m for help): d Partition number (1-3, default 3): 3 Partition 3 has been deleted. Command (m for help): p Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Device Boot Start End Sectors Size Id Type /dev/sdb1 2048 4982527 4980480 2.4G fd Linux raid autodetect /dev/sdb2 4982528 9176831 4194304 2G fd Linux raid autodetect Command (m for help): d Partition number (1,2, default 2): 2 Partition 2 has been deleted. Command (m for help): p Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Device Boot Start End Sectors Size Id Type /dev/sdb1 2048 4982527 4980480 2.4G fd Linux raid autodetect Command (m for help): d Selected partition 1 Partition 1 has been deleted. Command (m for help): p Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Command (m for help): w The partition table has been altered. Calling ioctl() to re-read partition table. Syncing disks. bluesanta@bluesanta-ubuntu:~$
파티션 생성
bluesanta@bluesanta-ubuntu:~$ sudo fdisk /dev/sdb Welcome to fdisk (util-linux 2.27.1). Changes will remain in memory only, until you decide to write them. Be careful before using the write command. Command (m for help): n Partition type p primary (0 primary, 0 extended, 4 free) e extended (container for logical partitions) Select (default p): p Partition number (1-4, default 1): 1 First sector (2048-3907029167, default 2048): Last sector, +sectors or +size{K,M,G,T,P} (2048-3907029167, default 3907029167): Created a new partition 1 of type 'Linux' and of size 1.8 TiB. Command (m for help): p Disk /dev/sdb: 1.8 TiB, 2000398934016 bytes, 3907029168 sectors Units: sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 4096 bytes I/O size (minimum/optimal): 4096 bytes / 4096 bytes Disklabel type: dos Disk identifier: 0x9d6a04a1 Device Boot Start End Sectors Size Id Type /dev/sdb1 2048 3907029167 3907027120 1.8T 83 Linux Command (m for help): w The partition table has been altered. Calling ioctl() to re-read partition table. Syncing disks. bluesanta@bluesanta-ubuntu:~$
파티션 포맷
$ sudo mkfs.ext4 /dev/sdb1
mke2fs 1.42.13 (17-May-2015)
/dev/sdb1 contains a ext4 file system labelled '1.42.6-15047'
last mounted on /tmpRoot on Sun Oct 22 04:57:39 2017
Proceed anyway? (y,n) y
Creating filesystem with 488378390 4k blocks and 122101760 inodes
Filesystem UUID: 453664ac-c02b-455c-9ba1-3d35bd897f7a
Superblock backups stored on blocks:
32768, 98304, 163840, 229376, 294912, 819200, 884736, 1605632, 2654208,
4096000, 7962624, 11239424, 20480000, 23887872, 71663616, 78675968,
102400000, 214990848
Allocating group tables: done
Writing inode tables: done
Creating journal (32768 blocks): done
Writing superblocks and filesystem accounting information:
done
마운트
UUID 확인
$ sudo blkid /dev/sdb1: UUID="453664ac-c02b-455c-9ba1-3d35bd897f7a" TYPE="ext4" PARTUUID="9d6a04a1-01" /dev/sda1: UUID="D45D-43C1" TYPE="vfat" PARTLABEL="EFI System Partition" PARTUUID="25020812-a594-49f0-8f24-99da4af239dd" /dev/sda2: UUID="53ea17c4-0915-40b0-8bbb-8bb001c978ba" TYPE="ext4" PARTUUID="dea676bf-ea7f-449c-b483-e9d624cc549a" /dev/sda3: UUID="872f5a18-1582-4dcd-a5ba-3d3f80b06571" TYPE="swap" PARTUUID="af10b5bd-2801-4178-b182-d68a297951d7"
fstab 파일에 파티션 추가
$ sudo vi /etc/fstab
# 파티션 추가 UUID=453664ac-c02b-455c-9ba1-3d35bd897f7a /bluesanta ext4 defaults 0 0
마운트 및 확인
$ sudo mkdir /bluesanta $ sudo mount -a $ df -h Filesystem Size Used Avail Use% Mounted on .... /dev/sdb1 1.8T 68M 1.7T 1% /bluesanta
출처 : ubuntu 16.04 원격 데스크탑 :: Hyub's Tistory
XRDP – How to install XRDP on Ubuntu 16.04 – Easy Way – Griffon's IT Library
XRDP Package 설치
$ sudo apt-get install xrdp
Mate-desktop 설치 설치
$ sudo apt-get install mate-core mate-desktop-environment mate-notification-daemon
데스크탑 환경을 xRDP 사용하도록 설정
$ sudo sed -i.bak '/fi/a #xrdp multiple users configuration \n mate-session \n' /etc/xrdp/startwm.sh
출처 : WHEREIS :: cmd 창에서 usb 포맷하기 - LKlingling - Tistory
디스크 목록 조회
DISKPART> list disk
디스크 ### 상태 크기 사용 가능 Dyn Gpt
---------- ------------- ------- ------------ --- ---
디스크 0 온라인 3726 GB 0 B *
디스크 1 온라인 1863 GB 0 B
디스크 2 온라인 7633 MB 127 MB *
디스크 선택
DISKPART> select disk 3
3 디스크가 선택한 디스크입니다.
디스크 초기화
DISKPART> clean
DiskPart에서 디스크를 정리했습니다.
파티션 생성하고, 포맷
DISKPART> create partition primary DISKPART> list partition DISKPART> select partition 1 DISKPART> active DISKPART> format fs=ntfs quick
Dump (SVN 전체 백업)
$ svnadmin dump /bluesanta/Repositories/ > /disk_iodd/linux_backup/Repositories * 덤프된 리비전 1. * 덤프된 리비전 2. * 덤프된 리비전 3. * 덤프된 리비전 4.
출처 : 모터드라이버 쉴드 L298P를 이용하는 방법[아두이노 강좌] : 네이버 블로그
#include <SoftwareSerial.h> //시리얼 통신 라이브러리 호출
// Bluetooth 관련
int blueRx=2; //Rx (받는핀 설정)
int blueTx=3; //Tx (보내는핀 설정)
SoftwareSerial btSerial(blueTx, blueRx); //시리얼 통신을 위한 객체선언
String myString=""; //받는 문자열
int E1 = 10; // 1번(A) 모터 Enable
int E2 = 11; // 2번(B) 모터 Enable
int M1 = 12; // 1번(A) 모터 PWM
int M2 = 13; // 2번(B) 모터 PWM
#define MOTER_SPEED 255
int value;
void setup() {
pinMode(M1, OUTPUT); // 출력핀 설정
pinMode(M2, OUTPUT);
Serial.begin(9600);
btSerial.begin(9600); //블루투스 시리얼 개방
}
void loop()
{
// put your main code here, to run repeatedly:
myString="";
while(btSerial.available()) //mySerial에 전송된 값이 있으면
{
char myChar = (char)btSerial.read(); //mySerial int 값을 char 형식으로 변환
myString+=myChar; //수신되는 문자를 myString에 모두 붙임 (1바이트씩 전송되는 것을 연결)
delay(5); //수신 문자열 끊김 방지
}
if (myString.length() > 0) {
Serial.println(myString);
if (myString == "F") {
motor_forward();
} else if (myString == "S") {
motor_stop();
} else if (myString == "R") {
motor_right();
} else if (myString == "L") {
motor_left();
} else if (myString == "B") {
motor_backwards();
}
}
}
void motor_stop() {
digitalWrite(M1, HIGH);
digitalWrite(M2, HIGH);
analogWrite(E1, 0);
analogWrite(E2, 0);
}
void motor_backwards() {
motor_backwards(MOTER_SPEED);
}
void motor_backwards(int speed) {
digitalWrite(M1, HIGH);
digitalWrite(M2, HIGH);
analogWrite(E1, speed);
analogWrite(E2, speed);
}
void motor_forward() {
motor_forward(MOTER_SPEED);
}
void motor_forward(int speed) {
digitalWrite(M1, LOW);
digitalWrite(M2, LOW);
analogWrite(E1, speed);
analogWrite(E2, speed);
}
void motor_right() {
motor_right(MOTER_SPEED);
}
void motor_right(int speed) {
digitalWrite(M1, HIGH);
digitalWrite(M2, LOW);
analogWrite(E1, speed);
analogWrite(E2, speed);
}
void motor_left() {
motor_left(MOTER_SPEED);
}
void motor_left(int speed) {
digitalWrite(M1, LOW);
digitalWrite(M2, HIGH);
analogWrite(E1, speed);
analogWrite(E2, speed);
}
MeArm - 원격 제어 1
출처 : 실습4. 아두이노 (Arduino)로 가변저항의 저항 값 읽기 : 네이버 블로그 | 메이키스트
MeArm을 원격 제어 하기 위해서 만들기 시작했는데, 아직 하나의 아두이노에서 제어만 가능한 상태입니다.
Raspberry PI를 이용해서 제어 명령을 녹화 했다가 다시 재생하고, 블루투스로 원역으로 제어 하는 부분을 구현 예정인데, 완료되면 다시 글 올리도록 하겠습니다.
최초 아두이노 소스
#include<Servo.h>
Servo myservo1;
Servo myservo2;
Servo myservo3;
int servoPin1 = 10;
int servoPin2 = 3;
int servoPin3 = 5;
int pos = 0;
int analogPin1 = A1; // potentiometer wiper (middle terminal) connected to analog pin 3
int analogPin2 = A2;
int analogPin3 = A3; // outside leads to ground and +5V
int val1 = 0; // variable to store the value read
int val1_offset_p = 10;
int val1_p_max = 180;
int val1_offset_s = 0;
int val1_ratio = 5.6266;
long temp1_old = 0;
int val2 = 0; // variable to store the value read
int val2_offset_p = 90;
int val2_p_max = 170;
int val2_offset_s = 60;
int val2_ratio = 6.3636;
long temp2_old = 0;
int val3 = 0; // variable to store the value read
int val3_offset_p = 100;
int val3_p_max = 180;
int val3_offset_s = 30;
int val3_ratio = 6;
long temp3_old = 0;
void setup()
{
Serial.begin(9600); // setup serial
myservo1.attach(servoPin1);
myservo2.attach(servoPin2);
myservo3.attach(servoPin3);
}
void loop()
{
val1 = analogRead(analogPin1); // read the input pin
val2 = analogRead(analogPin2); // read the input pin
val3 = analogRead(analogPin3); // read the input pin
Serial.print(val1); // debug value
Serial.print(", "); // debug value
Serial.print(val2); // debug value
Serial.print(", "); // debug value
Serial.print(val3); // debug value
// 오른쪽 0 / 왼쪽 180
// 오른쪽 1023 / 왼쪽 10
// 1023-10 / 180 = 5.6266
long temp1 = val1_p_max + val1_offset_s - ((val1 - val1_offset_p) / val1_ratio);
if (temp1 < val1_offset_s) {
temp1 = val1_offset_s;
}
if (temp1 > val1_p_max) {
temp1 = val1_p_max;
}
Serial.print(", "); // debug value
Serial.print(temp1_old); // debug value
// 뒤 170 / 앞 : 60
// 뒤 90 / 왼쪽 790
// 790-90 / 170-60 = 6.3636
long temp2 = val2_p_max - ((val2 - val2_offset_p) / val2_ratio);
if (temp2 < val2_offset_s) {
temp2 = val2_offset_s;
}
if (temp2 > val2_p_max) {
temp2 = val2_p_max;
}
Serial.print(", "); // debug value
Serial.print(temp2_old); // debug value
// 뒤 30 / 앞 : 180
// 뒤 1000 / 앞 100
// 1000-100 / 180-30 = 6
long temp3 = val3_p_max - ((val3 - val3_offset_p) / val3_ratio);
if (temp3 < val3_offset_s) {
temp3 = val3_offset_s;
}
if (temp3 > val3_p_max) {
temp3 = val3_p_max;
}
Serial.print(", "); // debug value
Serial.print(temp3_old); // debug value
if (temp1_old - 25 < temp1 && temp1_old + 25 ) {
myservo1.write(temp1);
temp1_old = temp1;
}
if (temp2_old - 25 < temp2 && temp2_old + 25 ) {
myservo2.write(temp2);
temp2_old = temp2;
}
if (temp3_old - 25 < temp3 && temp3_old + 25 ) {
myservo3.write(temp3);
temp3_old = temp3;
}
Serial.print("\n"); // debug value
delay(25);
}
개선된 소스 - 첫 번째
#include<Servo.h>
Servo myservo[3];
int servoPin[] = { 10, 3, 5 };
#define ARRAY_LENGTH 3
#define val1_offset_s 0
#define val1_p_max 1
#define val1_offset_p 2
#define val1_ratio 3
int analogPin[] = { A1, A2, A3 }; // outside leads to ground and +5V
double val1_offset[3][4] = {
{ 10, 180, 0, 5.6266 },
{ 90, 170, 60, 6.3636},
{ 100, 180, 30, 6}
};
int val[3]; // variable to store the value read
double temp[] = { 0, 0, 0 };
double temp_old[] = { 0, 0, 0 };
int chcek_int = 3;
void setup() {
Serial.begin(9600); // setup serial
for (int i=0; i<ARRAY_LENGTH; i++) {
myservo[i].attach(servoPin[i]);
}
//myservo[0].attach(servoPin[0]);
}
void loop() {
for (int i=0; i<ARRAY_LENGTH; i++) {
val[i] = analogRead(analogPin[i]); // read the input pin
Serial.print(i);
Serial.print("=");
Serial.print(val[i]); // debug value
Serial.print(","); // debug value
}
Serial.print("|"); // debug value
// 오른쪽 0 / 왼쪽 180
// 오른쪽 1023 / 왼쪽 10
// 1023-10 / 180 = 5.6266
temp[0] = val1_offset[0][val1_p_max] + val1_offset[0][val1_offset_s] - ((val[0] - val1_offset[0][val1_offset_p]) / val1_offset[0][val1_ratio]);
// 뒤 170 / 앞 : 60
// 뒤 90 / 왼쪽 790
// 790-90 / 170-60 = 6.3636
temp[1] = val1_offset[1][val1_p_max] - ((val[1] - val1_offset[1][val1_offset_p]) / val1_offset[1][val1_ratio]);
// 뒤 30 / 앞 : 180
// 뒤 1000 / 앞 100
// 1000-100 / 180-30 = 6
temp[2] = val1_offset[2][val1_p_max] - ((val[2] - val1_offset[2][val1_offset_p]) / val1_offset[2][val1_ratio]);
for (int i=0; i<ARRAY_LENGTH; i++) {
if (temp[i] < val1_offset[i][val1_offset_s]) {
temp[i] = val1_offset[i][val1_offset_s];
}
if (temp[i] > val1_offset[i][val1_p_max]) {
temp[i] = val1_offset[i][val1_p_max];
}
Serial.print(temp_old[i]); // debug value
Serial.print("/ "); // debug value
}
for (int i=0; i<ARRAY_LENGTH; i++) {
if (temp_old[i] - chcek_int > temp[i] || temp[i] > temp_old[i] + chcek_int ) {
myservo[i].write(temp[i]);
temp_old[i] = temp[i];
Serial.print(", "); // debug value
Serial.print("servo");
Serial.print(i);
Serial.print(" set"); // debug value
}
}
Serial.print("\n"); // debug value
delay(25);
}
개선된 소스 - 두 번째
#include<Servo.h>
Servo myservo[3];
int servoPin[] = { 10, 3, 5 };
#define ARRAY_LENGTH 3
#define resi_s 0
#define resi_e 1
#define servo_s 2
#define servo_e 3
#define arm_ratio 4
int analogPin[] = { A1, A2, A3 }; // outside leads to ground and +5V
double cvalue[3][5] = {
{ 50, 1023, 0, 180, 5.6266 },
{ 90, 790, 60, 170, 6.3636 },
{ 100, 1000, 30, 180, 6 }
};
int val[3]; // variable to store the value read
double temp[] = { 0, 0, 0 };
double temp_old[] = { 0, 0, 0 };
int chcek_int = 3;
void setup() {
Serial.begin(9600); // setup serial
for (int i=0; i<ARRAY_LENGTH; i++) {
myservo[i].attach(servoPin[i]);
// 790-90 / 170-60 = 6.3636
cvalue[i][arm_ratio] = (cvalue[i][resi_e] - cvalue[i][resi_s])
/ (cvalue[i][servo_e] - cvalue[i][servo_s]);
}
}
void loop() {
for (int i=0; i<ARRAY_LENGTH; i++) {
val[i] = analogRead(analogPin[i]); // read the input pin
Serial.print(i);
Serial.print("=");
Serial.print(val[i]); // debug value
Serial.print(","); // debug value
}
Serial.print("|"); // debug value
// 오른쪽 0 / 왼쪽 180
// 오른쪽 1023 / 왼쪽 10
// 1023-10 / 180 = 5.6266
temp[0] = cvalue[0][servo_e] + cvalue[0][servo_s] - ((val[0] - cvalue[0][resi_s]) / cvalue[0][arm_ratio]);
// 뒤 170 / 앞 : 60
// 뒤 90 / 왼쪽 790
// 790-90 / 170-60 = 6.3636
temp[1] = cvalue[1][servo_e] - ((val[1] - cvalue[1][resi_s]) / cvalue[1][arm_ratio]);
// 뒤 30 / 앞 : 180
// 뒤 1000 / 앞 100
// 1000-100 / 180-30 = 6
temp[2] = cvalue[2][servo_e] - ((val[2] - cvalue[2][servo_s]) / cvalue[2][arm_ratio]);
for (int i=0; i<ARRAY_LENGTH; i++) {
if (temp[i] < cvalue[i][servo_s]) {
temp[i] = cvalue[i][servo_s];
}
if (temp[i] > cvalue[i][servo_e]) {
temp[i] = cvalue[i][servo_e];
}
Serial.print(temp_old[i]); // debug value
Serial.print("/ "); // debug value
}
for (int i=0; i<ARRAY_LENGTH; i++) {
if (temp_old[i] - chcek_int > temp[i] || temp[i] > temp_old[i] + chcek_int ) {
myservo[i].write(temp[i]);
temp_old[i] = temp[i];
}
}
Serial.print("\n"); // debug value
delay(25);
}
실행
