#include <SoftwareSerial.h>

#include <Servo.h>

SoftwareSerial BTSerial(6, 5); // SoftwareSerial(RX, TX)

byte buffer[1024];

int bufferPosition;

Servo servo;

int motorAngle = 0;

int servoVal = 0;

int servoAngle = 90;

#define motor_enabler 9

#define motor_1 2

#define motor_2 4

#define bluetoothTx 5 //블루투스의 RX와 연결

#define bluetoothRx 6 //블루투스의 TX와 연결

SoftwareSerial bluetooth(bluetoothRx,bluetoothTx);

int current_speed;

int mode;

const int runPulse = 50;

int speedDelay = 100;

void motor_controll(char cmd);

void motor_run();

void setup () {

servo.attach(9);

BTSerial.begin(9600);

Serial.begin(9600);

bufferPosition = 0;

analogWrite(motor_enabler,0);

pinMode(motor_1,OUTPUT);

pinMode(motor_2,OUTPUT);

Serial.begin(9600);

delay(100);

bluetooth.begin(9600);

Serial.println("start");

current_speed = 0;

mode = 1; // 1 = 전진 2 = 후진

}

void loop () {

if (BTSerial.available()) {

byte data = BTSerial.read();

buffer[bufferPosition++] = data;

Serial.println(data);

switch(data){

case '0':

angleWrite(0);

break;

case '1':

angleWrite(45);

break;

case '2':

angleWrite(90);

break;

case '3':

angleWrite(180);

break;

case '\n':

bufferPosition = 0;

break;

}

if(mode ==1)

{

digitalWrite(motor_1,HIGH);

digitalWrite(motor_2,LOW);

}

else if(mode == 2)

{

digitalWrite(motor_1,LOW);

digitalWrite(motor_2,HIGH);

}

analogWrite(motor_enabler,current_speed);

char cmd;

if(Serial.available())

{

cmd = (char)Serial.read();

Serial.print("command=");

motor_controll(cmd);

}

if(bluetooth.available())

{

cmd = (char)bluetooth.read();

bluetooth.print("command=");

bluetooth.println(cmd);

motor_controll(cmd);

}

motor_run();

}

/*

cmd w는 가속 및 전진 s는감속 및 후진

*/

void motor_controll(char cmd)

{

if(cmd == 'w')

{

if(mode == 1)

speedDelay-=10;

else

speedDelay+=10;

if(speedDelay < 0)

{

speedDelay = 0;

}

if(speedDelay > 100)

{

speedDelay = 100;

mode = 1;

}

}

else if(cmd == 's')

{

if(mode == 2)

speedDelay-=10;

else

speedDelay+=10;

if(speedDelay < 0)

{

speedDelay = 0;

}

if(speedDelay > 100)

{

speedDelay = 100;

mode = 2;

}

}

else if(cmd == 'x')

{

//멈춤

mode = 1;

analogWrite(motor_enabler,50);

analogWrite(motor_enabler,0);

speedDelay = 100;

}

Serial.print("command=");

Serial.println(cmd);

Serial.println("");

Serial.print("currnetSpeed = ");

Serial.println(100 - speedDelay,DEC);

bluetooth.print("command=");

bluetooth.println(cmd);

bluetooth.println("");

bluetooth.print("currnetSpeed = ");

bluetooth.println(100 - speedDelay,DEC);

}

//pwm을 이용한 모터 속도 제어

void motor_run()

{

if(mode == 1)

{

digitalWrite(motor_1,HIGH);

digitalWrite(motor_2,LOW);

}

else if(mode == 2)

{

digitalWrite(motor_1,LOW);

digitalWrite(motor_2,HIGH);

}

if(speedDelay != 100)

{

analogWrite(motor_enabler,1023);

delay(runPulse);

analogWrite(motor_enabler,0);

delay(speedDelay);

}

else

{

analogWrite(motor_enabler,0);

}

}

}

void angleWrite(int angle){

servo.write(angle);

}

제가 원래 이쪽공부를 전문적으로 하지않아서 대충 짜집기해서 만든건데 void loop쪽에서 오류가 나는데 무슨오륜지좀 알수있을까요?