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<!doctype html>
<html>
<head>
<meta charset='UTF-8'><meta name='viewport' content='width=device-width initial-scale=1'>
<link href='https://fonts.googleapis.com/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext' rel='stylesheet' type='text/css' /><style type='text/css'>html {overflow-x: initial !important;}:root { --bg-color: #ffffff; --text-color: #333333; --select-text-bg-color: #B5D6FC; --select-text-font-color: auto; --monospace: "Lucida Console",Consolas,"Courier",monospace; --title-bar-height: 20px; }
.mac-os-11 { --title-bar-height: 28px; }
html { font-size: 14px; background-color: var(--bg-color); color: var(--text-color); font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; -webkit-font-smoothing: antialiased; }
h1, h2, h3, h4, h5 { white-space: pre-wrap; }
body { margin: 0px; padding: 0px; height: auto; inset: 0px; font-size: 1rem; line-height: 1.42857; overflow-x: hidden; background: inherit; }
iframe { margin: auto; }
a.url { word-break: break-all; }
a:active, a:hover { outline: 0px; }
.in-text-selection, ::selection { text-shadow: none; background: var(--select-text-bg-color); color: var(--select-text-font-color); }
#write { margin: 0px auto; height: auto; width: inherit; word-break: normal; overflow-wrap: break-word; position: relative; white-space: normal; overflow-x: visible; padding-top: 36px; }
#write.first-line-indent p { text-indent: 2em; }
#write.first-line-indent li p, #write.first-line-indent p * { text-indent: 0px; }
#write.first-line-indent li { margin-left: 2em; }
.for-image #write { padding-left: 8px; padding-right: 8px; }
body.typora-export { padding-left: 30px; padding-right: 30px; }
.typora-export .footnote-line, .typora-export li, .typora-export p { white-space: pre-wrap; }
.typora-export .task-list-item input { pointer-events: none; }
@media screen and (max-width: 500px) {
body.typora-export { padding-left: 0px; padding-right: 0px; }
#write { padding-left: 20px; padding-right: 20px; }
}
#write li > figure:last-child { margin-bottom: 0.5rem; }
#write ol, #write ul { position: relative; }
img { max-width: 100%; vertical-align: middle; image-orientation: from-image; }
button, input, select, textarea { color: inherit; font: inherit; }
input[type="checkbox"], input[type="radio"] { line-height: normal; padding: 0px; }
*, ::after, ::before { box-sizing: border-box; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p, #write pre { width: inherit; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p { position: relative; }
p { line-height: inherit; }
h1, h2, h3, h4, h5, h6 { break-after: avoid-page; break-inside: avoid; orphans: 4; }
p { orphans: 4; }
h1 { font-size: 2rem; }
h2 { font-size: 1.8rem; }
h3 { font-size: 1.6rem; }
h4 { font-size: 1.4rem; }
h5 { font-size: 1.2rem; }
h6 { font-size: 1rem; }
.md-math-block, .md-rawblock, h1, h2, h3, h4, h5, h6, p { margin-top: 1rem; margin-bottom: 1rem; }
.hidden { display: none; }
.md-blockmeta { color: rgb(204, 204, 204); font-weight: 700; font-style: italic; }
a { cursor: pointer; }
sup.md-footnote { padding: 2px 4px; background-color: rgba(238, 238, 238, 0.7); color: rgb(85, 85, 85); border-radius: 4px; cursor: pointer; }
sup.md-footnote a, sup.md-footnote a:hover { color: inherit; text-transform: inherit; text-decoration: inherit; }
#write input[type="checkbox"] { cursor: pointer; width: inherit; height: inherit; }
figure { overflow-x: auto; margin: 1.2em 0px; max-width: calc(100% + 16px); padding: 0px; }
figure > table { margin: 0px; }
thead, tr { break-inside: avoid; break-after: auto; }
thead { display: table-header-group; }
table { border-collapse: collapse; border-spacing: 0px; width: 100%; overflow: auto; break-inside: auto; text-align: left; }
table.md-table td { min-width: 32px; }
.CodeMirror-gutters { border-right: 0px; background-color: inherit; }
.CodeMirror-linenumber { user-select: none; }
.CodeMirror { text-align: left; }
.CodeMirror-placeholder { opacity: 0.3; }
.CodeMirror pre { padding: 0px 4px; }
.CodeMirror-lines { padding: 0px; }
div.hr:focus { cursor: none; }
#write pre { white-space: pre-wrap; }
#write.fences-no-line-wrapping pre { white-space: pre; }
#write pre.ty-contain-cm { white-space: normal; }
.CodeMirror-gutters { margin-right: 4px; }
.md-fences { font-size: 0.9rem; display: block; break-inside: avoid; text-align: left; overflow: visible; white-space: pre; background: inherit; position: relative !important; }
.md-fences-adv-panel { width: 100%; margin-top: 10px; text-align: center; padding-top: 0px; padding-bottom: 8px; overflow-x: auto; }
#write .md-fences.mock-cm { white-space: pre-wrap; }
.md-fences.md-fences-with-lineno { padding-left: 0px; }
#write.fences-no-line-wrapping .md-fences.mock-cm { white-space: pre; overflow-x: auto; }
.md-fences.mock-cm.md-fences-with-lineno { padding-left: 8px; }
.CodeMirror-line, twitterwidget { break-inside: avoid; }
svg { break-inside: avoid; }
.footnotes { opacity: 0.8; font-size: 0.9rem; margin-top: 1em; margin-bottom: 1em; }
.footnotes + .footnotes { margin-top: 0px; }
.md-reset { margin: 0px; padding: 0px; border: 0px; outline: 0px; vertical-align: top; background: 0px 0px; text-decoration: none; text-shadow: none; float: none; position: static; width: auto; height: auto; white-space: nowrap; cursor: inherit; -webkit-tap-highlight-color: transparent; line-height: normal; font-weight: 400; text-align: left; box-sizing: content-box; direction: ltr; }
li div { padding-top: 0px; }
blockquote { margin: 1rem 0px; }
li .mathjax-block, li p { margin: 0.5rem 0px; }
li blockquote { margin: 1rem 0px; }
li { margin: 0px; position: relative; }
blockquote > :last-child { margin-bottom: 0px; }
blockquote > :first-child, li > :first-child { margin-top: 0px; }
.footnotes-area { color: rgb(136, 136, 136); margin-top: 0.714rem; padding-bottom: 0.143rem; white-space: normal; }
#write .footnote-line { white-space: pre-wrap; }
@media print {
body, html { border: 1px solid transparent; height: 99%; break-after: avoid; break-before: avoid; font-variant-ligatures: no-common-ligatures; }
#write { margin-top: 0px; border-color: transparent !important; padding-top: 0px !important; padding-bottom: 0px !important; }
.typora-export * { -webkit-print-color-adjust: exact; }
.typora-export #write { break-after: avoid; }
.typora-export #write::after { height: 0px; }
.is-mac table { break-inside: avoid; }
#write > p:nth-child(1) { margin-top: 0px; }
.typora-export-show-outline .typora-export-sidebar { display: none; }
figure { overflow-x: visible; }
}
.footnote-line { margin-top: 0.714em; font-size: 0.7em; }
a img, img a { cursor: pointer; }
pre.md-meta-block { font-size: 0.8rem; min-height: 0.8rem; white-space: pre-wrap; background: rgb(204, 204, 204); display: block; overflow-x: hidden; }
p > .md-image:only-child:not(.md-img-error) img, p > img:only-child { display: block; margin: auto; }
#write.first-line-indent p > .md-image:only-child:not(.md-img-error) img { left: -2em; position: relative; }
p > .md-image:only-child { display: inline-block; width: 100%; }
#write .MathJax_Display { margin: 0.8em 0px 0px; }
.md-math-block { width: 100%; }
.md-math-block:not(:empty)::after { display: none; }
.MathJax_ref { fill: currentcolor; }
[contenteditable="true"]:active, [contenteditable="true"]:focus, [contenteditable="false"]:active, [contenteditable="false"]:focus { outline: 0px; box-shadow: none; }
.md-task-list-item { position: relative; list-style-type: none; }
.task-list-item.md-task-list-item { padding-left: 0px; }
.md-task-list-item > input { position: absolute; top: 0px; left: 0px; margin-left: -1.2em; margin-top: calc(1em - 10px); border: none; }
.math { font-size: 1rem; }
.md-toc { min-height: 3.58rem; position: relative; font-size: 0.9rem; border-radius: 10px; }
.md-toc-content { position: relative; margin-left: 0px; }
.md-toc-content::after, .md-toc::after { display: none; }
.md-toc-item { display: block; color: rgb(65, 131, 196); }
.md-toc-item a { text-decoration: none; }
.md-toc-inner:hover { text-decoration: underline; }
.md-toc-inner { display: inline-block; cursor: pointer; }
.md-toc-h1 .md-toc-inner { margin-left: 0px; font-weight: 700; }
.md-toc-h2 .md-toc-inner { margin-left: 2em; }
.md-toc-h3 .md-toc-inner { margin-left: 4em; }
.md-toc-h4 .md-toc-inner { margin-left: 6em; }
.md-toc-h5 .md-toc-inner { margin-left: 8em; }
.md-toc-h6 .md-toc-inner { margin-left: 10em; }
@media screen and (max-width: 48em) {
.md-toc-h3 .md-toc-inner { margin-left: 3.5em; }
.md-toc-h4 .md-toc-inner { margin-left: 5em; }
.md-toc-h5 .md-toc-inner { margin-left: 6.5em; }
.md-toc-h6 .md-toc-inner { margin-left: 8em; }
}
a.md-toc-inner { font-size: inherit; font-style: inherit; font-weight: inherit; line-height: inherit; }
.footnote-line a:not(.reversefootnote) { color: inherit; }
.reversefootnote { font-family: ui-monospace, sans-serif; }
.md-attr { display: none; }
.md-fn-count::after { content: "."; }
code, pre, samp, tt { font-family: var(--monospace); }
kbd { margin: 0px 0.1em; padding: 0.1em 0.6em; font-size: 0.8em; color: rgb(36, 39, 41); background: rgb(255, 255, 255); border: 1px solid rgb(173, 179, 185); border-radius: 3px; box-shadow: rgba(12, 13, 14, 0.2) 0px 1px 0px, rgb(255, 255, 255) 0px 0px 0px 2px inset; white-space: nowrap; vertical-align: middle; }
.md-comment { color: rgb(162, 127, 3); opacity: 0.6; font-family: var(--monospace); }
code { text-align: left; vertical-align: initial; }
a.md-print-anchor { white-space: pre !important; border-width: initial !important; border-style: none !important; border-color: initial !important; display: inline-block !important; position: absolute !important; width: 1px !important; right: 0px !important; outline: 0px !important; background: 0px 0px !important; text-decoration: initial !important; text-shadow: initial !important; }
.os-windows.monocolor-emoji .md-emoji { font-family: "Segoe UI Symbol", sans-serif; }
.md-diagram-panel > svg { max-width: 100%; }
[lang="flow"] svg, [lang="mermaid"] svg { max-width: 100%; height: auto; }
[lang="mermaid"] .node text { font-size: 1rem; }
table tr th { border-bottom: 0px; }
video { max-width: 100%; display: block; margin: 0px auto; }
iframe { max-width: 100%; width: 100%; border: none; }
.highlight td, .highlight tr { border: 0px; }
mark { background: rgb(255, 255, 0); color: rgb(0, 0, 0); }
.md-html-inline .md-plain, .md-html-inline strong, mark .md-inline-math, mark strong { color: inherit; }
.md-expand mark .md-meta { opacity: 0.3 !important; }
mark .md-meta { color: rgb(0, 0, 0); }
@media print {
.typora-export h1, .typora-export h2, .typora-export h3, .typora-export h4, .typora-export h5, .typora-export h6 { break-inside: avoid; }
}
.md-diagram-panel .messageText { stroke: none !important; }
.md-diagram-panel .start-state { fill: var(--node-fill); }
.md-diagram-panel .edgeLabel rect { opacity: 1 !important; }
.md-fences.md-fences-math { font-size: 1em; }
.md-fences-advanced:not(.md-focus) { padding: 0px; white-space: nowrap; border: 0px; }
.md-fences-advanced:not(.md-focus) { background: inherit; }
.typora-export-show-outline .typora-export-content { max-width: 1440px; margin: auto; display: flex; flex-direction: row; }
.typora-export-sidebar { width: 300px; font-size: 0.8rem; margin-top: 80px; margin-right: 18px; }
.typora-export-show-outline #write { --webkit-flex: 2; flex: 2 1 0%; }
.typora-export-sidebar .outline-content { position: fixed; top: 0px; max-height: 100%; overflow: hidden auto; padding-bottom: 30px; padding-top: 60px; width: 300px; }
@media screen and (max-width: 1024px) {
.typora-export-sidebar, .typora-export-sidebar .outline-content { width: 240px; }
}
@media screen and (max-width: 800px) {
.typora-export-sidebar { display: none; }
}
.outline-content li, .outline-content ul { margin-left: 0px; margin-right: 0px; padding-left: 0px; padding-right: 0px; list-style: none; overflow-wrap: anywhere; }
.outline-content ul { margin-top: 0px; margin-bottom: 0px; }
.outline-content strong { font-weight: 400; }
.outline-expander { width: 1rem; height: 1.42857rem; position: relative; display: table-cell; vertical-align: middle; cursor: pointer; padding-left: 4px; }
.outline-expander::before { content: ""; position: relative; font-family: Ionicons; display: inline-block; font-size: 8px; vertical-align: middle; }
.outline-item { padding-top: 3px; padding-bottom: 3px; cursor: pointer; }
.outline-expander:hover::before { content: ""; }
.outline-h1 > .outline-item { padding-left: 0px; }
.outline-h2 > .outline-item { padding-left: 1em; }
.outline-h3 > .outline-item { padding-left: 2em; }
.outline-h4 > .outline-item { padding-left: 3em; }
.outline-h5 > .outline-item { padding-left: 4em; }
.outline-h6 > .outline-item { padding-left: 5em; }
.outline-label { cursor: pointer; display: table-cell; vertical-align: middle; text-decoration: none; color: inherit; }
.outline-label:hover { text-decoration: underline; }
.outline-item:hover { border-color: rgb(245, 245, 245); background-color: var(--item-hover-bg-color); }
.outline-item:hover { margin-left: -28px; margin-right: -28px; border-left: 28px solid transparent; border-right: 28px solid transparent; }
.outline-item-single .outline-expander::before, .outline-item-single .outline-expander:hover::before { display: none; }
.outline-item-open > .outline-item > .outline-expander::before { content: ""; }
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.typora-export .outline-expander:hover::before, .typora-export .outline-item-open > .outline-item > .outline-expander::before { content: "−"; }
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.typora-export-collapse-outline .outline-item-open > .outline-children, .typora-export-no-collapse-outline .outline-children { display: block; }
.typora-export-no-collapse-outline .outline-expander::before { content: "" !important; }
.typora-export-show-outline .outline-item-active > .outline-item .outline-label { font-weight: 700; }
.md-inline-math-container mjx-container { zoom: 0.95; }
mjx-container { break-inside: avoid; }
.md-alert.md-alert-note { border-left-color: rgb(9, 105, 218); }
.md-alert.md-alert-important { border-left-color: rgb(130, 80, 223); }
.md-alert.md-alert-warning { border-left-color: rgb(154, 103, 0); }
.md-alert.md-alert-tip { border-left-color: rgb(31, 136, 61); }
.md-alert.md-alert-caution { border-left-color: rgb(207, 34, 46); }
.md-alert { padding: 0px 1em; margin-bottom: 16px; color: inherit; border-left: 0.25em solid rgb(0, 0, 0); }
.md-alert-text-note { color: rgb(9, 105, 218); }
.md-alert-text-important { color: rgb(130, 80, 223); }
.md-alert-text-warning { color: rgb(154, 103, 0); }
.md-alert-text-tip { color: rgb(31, 136, 61); }
.md-alert-text-caution { color: rgb(207, 34, 46); }
.md-alert-text { font-size: 0.9rem; font-weight: 700; }
.md-alert-text svg { fill: currentcolor; position: relative; top: 0.125em; margin-right: 1ch; overflow: visible; }
.md-alert-text-container::after { content: attr(data-text); text-transform: capitalize; pointer-events: none; margin-right: 1ch; }
:root {
--side-bar-bg-color: #fafafa;
--control-text-color: #777;
}
@include-when-export url(https://fonts.googleapis.com/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext);
/* open-sans-regular - latin-ext_latin */
/* open-sans-italic - latin-ext_latin */
/* open-sans-700 - latin-ext_latin */
/* open-sans-700italic - latin-ext_latin */
html {
font-size: 16px;
-webkit-font-smoothing: antialiased;
}
body {
font-family: "Open Sans","Clear Sans", "Helvetica Neue", Helvetica, Arial, 'Segoe UI Emoji', sans-serif;
color: rgb(51, 51, 51);
line-height: 1.6;
}
#write {
max-width: 860px;
margin: 0 auto;
padding: 30px;
padding-bottom: 100px;
}
@media only screen and (min-width: 1400px) {
#write {
max-width: 1024px;
}
}
@media only screen and (min-width: 1800px) {
#write {
max-width: 1200px;
}
}
#write > ul:first-child,
#write > ol:first-child{
margin-top: 30px;
}
a {
color: #4183C4;
}
h1,
h2,
h3,
h4,
h5,
h6 {
position: relative;
margin-top: 1rem;
margin-bottom: 1rem;
font-weight: bold;
line-height: 1.4;
cursor: text;
}
h1:hover a.anchor,
h2:hover a.anchor,
h3:hover a.anchor,
h4:hover a.anchor,
h5:hover a.anchor,
h6:hover a.anchor {
text-decoration: none;
}
h1 tt,
h1 code {
font-size: inherit;
}
h2 tt,
h2 code {
font-size: inherit;
}
h3 tt,
h3 code {
font-size: inherit;
}
h4 tt,
h4 code {
font-size: inherit;
}
h5 tt,
h5 code {
font-size: inherit;
}
h6 tt,
h6 code {
font-size: inherit;
}
h1 {
font-size: 2.25em;
line-height: 1.2;
border-bottom: 1px solid #eee;
}
h2 {
font-size: 1.75em;
line-height: 1.225;
border-bottom: 1px solid #eee;
}
/*@media print {
.typora-export h1,
.typora-export h2 {
border-bottom: none;
padding-bottom: initial;
}
.typora-export h1::after,
.typora-export h2::after {
content: "";
display: block;
height: 100px;
margin-top: -96px;
border-top: 1px solid #eee;
}
}*/
h3 {
font-size: 1.5em;
line-height: 1.43;
}
h4 {
font-size: 1.25em;
}
h5 {
font-size: 1em;
}
h6 {
font-size: 1em;
color: #777;
}
p,
blockquote,
ul,
ol,
dl,
table{
margin: 0.8em 0;
}
li>ol,
li>ul {
margin: 0 0;
}
hr {
height: 2px;
padding: 0;
margin: 16px 0;
background-color: #e7e7e7;
border: 0 none;
overflow: hidden;
box-sizing: content-box;
}
li p.first {
display: inline-block;
}
ul,
ol {
padding-left: 30px;
}
ul:first-child,
ol:first-child {
margin-top: 0;
}
ul:last-child,
ol:last-child {
margin-bottom: 0;
}
blockquote {
border-left: 4px solid #dfe2e5;
padding: 0 15px;
color: #777777;
}
blockquote blockquote {
padding-right: 0;
}
table {
padding: 0;
word-break: initial;
}
table tr {
border: 1px solid #dfe2e5;
margin: 0;
padding: 0;
}
table tr:nth-child(2n),
thead {
background-color: #f8f8f8;
}
table th {
font-weight: bold;
border: 1px solid #dfe2e5;
border-bottom: 0;
margin: 0;
padding: 6px 13px;
}
table td {
border: 1px solid #dfe2e5;
margin: 0;
padding: 6px 13px;
}
table th:first-child,
table td:first-child {
margin-top: 0;
}
table th:last-child,
table td:last-child {
margin-bottom: 0;
}
.CodeMirror-lines {
padding-left: 4px;
}
.code-tooltip {
box-shadow: 0 1px 1px 0 rgba(0,28,36,.3);
border-top: 1px solid #eef2f2;
}
.md-fences,
code,
tt {
border: 1px solid #e7eaed;
background-color: #f8f8f8;
border-radius: 3px;
padding: 0;
padding: 2px 4px 0px 4px;
font-size: 0.9em;
}
code {
background-color: #f3f4f4;
padding: 0 2px 0 2px;
}
.md-fences {
margin-bottom: 15px;
margin-top: 15px;
padding-top: 8px;
padding-bottom: 6px;
}
.md-task-list-item > input {
margin-left: -1.3em;
}
@media print {
html {
font-size: 13px;
}
pre {
page-break-inside: avoid;
word-wrap: break-word;
}
}
.md-fences {
background-color: #f8f8f8;
}
#write pre.md-meta-block {
padding: 1rem;
font-size: 85%;
line-height: 1.45;
background-color: #f7f7f7;
border: 0;
border-radius: 3px;
color: #777777;
margin-top: 0 !important;
}
.mathjax-block>.code-tooltip {
bottom: .375rem;
}
.md-mathjax-midline {
background: #fafafa;
}
#write>h3.md-focus:before{
left: -1.5625rem;
top: .375rem;
}
#write>h4.md-focus:before{
left: -1.5625rem;
top: .285714286rem;
}
#write>h5.md-focus:before{
left: -1.5625rem;
top: .285714286rem;
}
#write>h6.md-focus:before{
left: -1.5625rem;
top: .285714286rem;
}
.md-image>.md-meta {
/*border: 1px solid #ddd;*/
border-radius: 3px;
padding: 2px 0px 0px 4px;
font-size: 0.9em;
color: inherit;
}
.md-tag {
color: #a7a7a7;
opacity: 1;
}
.md-toc {
margin-top:20px;
padding-bottom:20px;
}
.sidebar-tabs {
border-bottom: none;
}
#typora-quick-open {
border: 1px solid #ddd;
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</style><title>README</title>
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<div id='write' class=''><h1 id='5+1-dof-로봇-펌웨어'><span>5+1 DOF 로봇 펌웨어</span></h1><p><span>이 펌웨어는 아래의 로봇을 조종하는 펌웨어입니다. </span></p><p><img src="asset/robot.jpg" referrerpolicy="no-referrer" alt="robot"></p><p><span>아래의 로봇은 아두이노 우노 rev.3 보드와 SensorShield v5.0 이 합체되어 로봇의 6개 서보를 조종합니다.</span></p><p><span>조이스틱 컨트롤러는 아날로그신호에 연결되어있으나, 기능은 없습니다. 수입사 SCIPIA가 제공한 코드를 바탕으로 로봇을 테스트하기위하여 부착되어있으며, 이 코드는 SCIPIA 코드와 무관합니다. </span></p><p><span>로봇은 반드시 12v DC 전원장치를 SensorShield v5.0에 연결해야 작동합니다. 없이는 전원이 부족하여 작동하지 않습니다. 현재 보유중인 장치는 DC 입력과 점퍼캐이블, 볼티지 레귤레이터가 다 달려 꽃기만 하면 됩니다. 없다면 최악의 경우 볼티지 레귤레이터 부품을 직접 만들어야 할 수도 있습니다. 다른 모든 부품은 중국에서 수입만 했는데 볼티지 레귤레이터만 SCIPIA가 직접 만들고 인증 받은것으로 보입니다.</span></p><h3 id='예시-전원-장치'><span>예시 전원 장치</span></h3><p><img src="asset/IMG_6651.jpg" referrerpolicy="no-referrer" alt="IMG_6651"></p><p> </p><h2 id='로봇-제어-방법'><span>로봇 제어 방법</span></h2><h3 id='서보-설정'><span>서보 설정</span></h3><p><span>서보는 0번부터 시작하여 5번까지 번호가 매겨져있으며 0번이 맨 아래이고 순서대로 번호가 매겨져 5번이 집게를 열고 닫는 역할을 합니다.</span></p><p><span>3번 서보와 5번 서보는 기동 각도가 다른 서보와 다르며, 3번은 130도, 5번은 105~8도 정도입니다. </span></p><p><span>5번이 0도일때 집게가 열린 상태이고 108도일때 완전히 닫힌 상태입니다.</span></p><p><strong><span>기동 불가능한 범위에 서보를 강제로 작동 시키거나, 서보 모터에 토크락이 걸린 상태에서 무리하게 서보를 움직이면 서보모터의 회로에 "스탈 토크"라는 현상이 일어나 과전류가 흐르고, 내부가 </span><u><span>불타 망가져버리니</span></u><span> 조심하시길 부탁드립니다.</span></strong></p><p><strong><span>이것은 특히 무거운 물건을 들어올릴려 할때 문제가 크게 됩니다. 100g 이상의 물건을 들어올리려 하지 마십시오.</span></strong><span> </span></p><p><span>0번 서보는 3번 포트에, 1번은 2번에 3번은 8번에, 4번은 12번에, 5번은 13번에 꽃혀있으며 이는 코드상에서 변경 가능합니다. </span></p><h3 id='시리얼-통신'><span>시리얼 통신</span></h3><p><span>아두이노의 Serial Monitor나 시리얼 통신 터미널을 통하여 명령을 내릴 수 있습니다.</span></p><video src="asset/monitor.webm"></video><h4 id='직접조종'><span>직접조종</span></h4><p><code>{S<서보번호>:각도, ...}</code><span>형태의 명령어를 통해 서보를 직접 조종할 수 있으며, 코드에 미리 정의된 한계각도범위를 벗어나면 수정됩니다. </span><code>SERVO_MAX</code><span> </span><code>SERVO_MIN</code><span> 행렬 변수에 의하여 코드상에서 선언되어 있습니다.</span></p><h4 id='녹화'><span>녹화</span></h4><p><code>RECORD</code><span> 명령어를 통하여 행동에 대한 녹화가 가능하며, 1초에 한번의 명령을 수행한다고 할때, 약 30초의 명령을 저장 할 수 있을 것입니다. 아두이노 우노 기준으로 이미 SRAM이 부족해 이 이상은 어려우며, 하드코딩으로 30초 제한을 걸어두었습니다. 만약 다른 ESP32기기에 이식하게 된다면, 그때는 </span><code>RECORD_TIMEOUT_MS</code><span> 변수를 수정해 변경하는것을 고려 해 보십시오. 행동에 대한 녹화는 앞서 언급한 서보 직접 조종 명령어를 기록하여 수행됩니다.</span></p><h4 id='중지'><span>중지</span></h4><p><code>STOP</code><span>은 </span><code>RECORD</code><span>, </span><code>PLAY</code><span> 와 </span><code>SEQUENCE</code><span>를 중단하는 기능입니다. </span></p><h4 id='재생'><span>재생</span></h4><p><code>PLAY</code><span> 는 </span><code>RECORD</code><span>로 기록한 행동을 다시 재생합니다.</span></p><h4 id='시연-용-움직임-재생'><span>시연 용 움직임 재생</span></h4><p><code>SEQUENCE</code><span>는 코드상에 하드코딩된 행동을 재생합니다. 현재 들어가 있는 명령어는 병뚜껑을 잡아 오른쪽에 있는 컵에 넣는 행위를 기록한 것입니다. 빠른 시연을 위하여 만들어졌습니다. 아래의 영상을 참조하세요.</span></p><video src="asset/demonstration.mp4"></video><video src="asset/demonstration.webm"></video></div></div>
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