diff --git a/Rarp2.cpp b/Rarp2.cpp
deleted file mode 100644
index 001022d3e23c82a7dd99c087283adaac1e2f30f6..0000000000000000000000000000000000000000
--- a/Rarp2.cpp
+++ /dev/null
@@ -1,554 +0,0 @@
-/*
- * See documentation at https://nRF24.github.io/RF24
- * See License information at root directory of this library
- * Author: Brendan Doherty (2bndy5)
- */
-
-/**
- * A simple example of sending data from 1 nRF24L01 transceiver to another.
- *
- * This example was written to be used on 2 devices acting as "nodes".
- * Use `ctrl+c` to quit at any time.
- */
-#include <ctime> // time()
-#include <iostream> // cin, cout, endl
-#include <string> // string, getline()
-#include <time.h> // CLOCK_MONOTONIC_RAW, timespec, clock_gettime()
-#include <RF24/RF24.h> // RF24, RF24_PA_LOW, delay()
-
-#include<stdio.h>
-#include<stdlib.h>
-#include<arpa/inet.h>
-#include<sys/socket.h>
-#include<unistd.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <fcntl.h>
-
-
-#define IN 0
-#define OUT 1
-#define LOW 0
-#define HIGH 1
-#define VALUE_MAX 40
-#define BUFFER_MAX 3
-#define DIRECTION_MAX_P 45
-#define VALUE_MAX_P 256
-
-#define PIN 20
-#define POUT2 21
-#define POUT1 18
-#define PWM 0
-
-// 서보모터의 최소 각도와 최대 각도
-#define MIN_ANGLE 500000
-#define MAX_ANGLE 2500000
-
-using namespace std;
-
-/****************** Linux ***********************/
-// Radio CE Pin, CSN Pin, SPI Speed
-// CE Pin uses GPIO number with BCM and SPIDEV drivers, other platforms use their own pin numbering
-// CS Pin addresses the SPI bus number at /dev/spidev<a>.<b>
-// ie: RF24 radio(<ce_pin>, <a>*10+<b>); spidev1.0 is 10, spidev1.1 is 11 etc..
-#define CSN_PIN 0
-#ifdef MRAA
- #define CE_PIN 15 // GPIO22
-#else
- #define CE_PIN 22
-#endif
-// Generic:
-RF24 radio(17, CSN_PIN);
-/****************** Linux (BBB,x86,etc) ***********************/
-// See http://nRF24.github.io/RF24/pages.html for more information on usage
-// See http://iotdk.intel.com/docs/master/mraa/ for more information on MRAA
-// See https://www.kernel.org/doc/Documentation/spi/spidev for more information on SPIDEV
-
-// For this example, we'll be using a payload containing
-// a single float number that will be incremented
-// on every successful transmission
-float payload = 0;
-
-void setRole(); // prototype to set the node's role
-void master(); // prototype of the TX node's behavior
-void slave(); // prototype of the RX node's behavior
-
-// custom defined timer for evaluating transmission time in microseconds
-struct timespec startTimer, endTimer;
-uint32_t getMicros(); // prototype to get elapsed time in microseconds
-
-
-static int PWMExport(int pwmnum)
-{
- char buffer[BUFFER_MAX];
- int bytes_written;
- int fd;
-
- fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in unexport!\n");
- return(-1);
- }
-
- bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
- write(fd, buffer, bytes_written);
- close(fd);
-
- sleep(1);
- fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in export!\n");
- return(-1);
- }
- bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
- write(fd, buffer, bytes_written);
- close(fd);
- sleep(1);
- return(0);
-}
-static int
-PWMUnexport(int pwmnum) {
- char buffer[BUFFER_MAX];
- ssize_t bytes_written;
- int fd;
- fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in unexport!\n");
- return(-1);
- }
- bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
- write(fd, buffer, bytes_written);
- close(fd);
-
- sleep(1);
- return(0);
-}
-
-static int
-PWMEnable(int pwmnum) {
- static const char s_unenable_str[] = "0";
- static const char s_enable_str[] = "1";
-
- char path[DIRECTION_MAX_P];
- int fd;
- snprintf(path, DIRECTION_MAX_P, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in enable!\n");
- return -1;
- }
- write(fd, s_unenable_str, strlen(s_unenable_str));
- close(fd);
-
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in enable!\n");
- return -1;
- }
-
- write(fd, s_enable_str, strlen(s_enable_str));
- close(fd);
- return(0);
-
-}
-
-static int
-PWMUnable(int pwmnum)
-{
- static const char s_unable_str[] = "0";
- char path[DIRECTION_MAX_P];
- int fd;
-
- snprintf(path, DIRECTION_MAX_P, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in enable!\n");
- return -1;
- }
-
- write(fd, s_unable_str, strlen(s_unable_str));
- close(fd);
-
- return(0);
-
-}
-
-static int
-PWMWritePeriod(int pwmnum, int value)
-{
- char s_values_str[VALUE_MAX_P];
- char path[VALUE_MAX_P];
- int fd, byte;
-
- snprintf(path, VALUE_MAX_P, "/sys/class/pwm/pwmchip0/pwm%d/period", pwmnum);
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in period!\n");
- return(-1);
- }
-
- byte = snprintf(s_values_str, 10, "%d", value);
-
- if (-1 == write(fd, s_values_str, byte)) {
- fprintf(stderr, "Failed to write value in period!\n");
- close(fd);
- return(-1);
- }
-
- close(fd);
- return(0);
-}
-
-static int
-PWMWriteDutyCycle(int pwmnum, int value)
-{
- char path[VALUE_MAX_P];
- char s_values_str[VALUE_MAX_P];
- int fd, byte;
-
- snprintf(path, VALUE_MAX_P, "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle", pwmnum);
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open in duty_cycle!\n");
- return(-1);
- }
-
- byte = snprintf(s_values_str, 10, "%d", value);
-
- if (-1 == write(fd, s_values_str, byte)) {
- fprintf(stderr, "Failed to write value! in duty_cycle\n");
- close(fd);
- return(-1);
- }
-
- close(fd);
- return(0);
-}
-
-
-static int GPIOExport(int pin) {
- char buffer[BUFFER_MAX];
- ssize_t bytes_written;
- int fd;
-
- fd = open("/sys/class/gpio/export",O_WRONLY);
- if(-1 == fd) {
- fprintf(stderr, "Failed to open export for writing!\n");
- return(-1);
- }
-
- bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
- write(fd, buffer, bytes_written);
- close(fd);
- return(0);
-}
-
-static int GPIOUnexport(int pin) {
- char buffer[BUFFER_MAX];
- ssize_t bytes_written;
- int fd;
-
- fd = open("/sys/class/gpio/unexport",O_WRONLY);
- if(-1 == fd) {
- fprintf(stderr, "Failed to open export for writing!\n");
- return(-1);
- }
-
- bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
- write(fd, buffer, bytes_written);
- close(fd);
- return(0);
-}
-
-static int GPIORead(int pin) {
- char path[VALUE_MAX];
- char value_str[3];
- int fd;
-
- snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
- fd = open(path, O_RDONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open gpio value for reading!\n");
- return(-1);
- }
-
- if (-1 == read(fd, value_str, 3)) {
- fprintf(stderr, "Failed to read value! [ Pin Number : %d]\n", pin);
- close(fd);
- return(-1);
- }
-
- close(fd);
- return(atoi(value_str));
-}
-
-static int GPIOWrite(int pin, int value) {
- static const char s_values_str[] = "01";
-
- char path[VALUE_MAX];
- int fd;
-
- snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
- fd = open(path, O_WRONLY);
- if (-1 == fd) {
- fprintf(stderr, "Failed to open gpio value for writing!\n");
- return(-1);
- }
-
- if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)) {
- fprintf(stderr, "Failed to write value!\n");
- close(fd);
- return(-1);
- }
-
- close(fd);
- return(0);
-}
-
-static int GPIODirection(int pin, int dir) {
- static const char s_directions_str[] = "in\0out";
-
- #define DIRECTION_MAX 35
- char path[DIRECTION_MAX] = "/sys/class/gpio/gpio%d/direction";
- int fd;
-
- snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
-
- fd = open(path,O_WRONLY);
- if(-1 == fd) {
- fprintf(stderr, "Failed to open export for writing!\n");
- return(-1);
- }
-
- if(-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)){
- fprintf(stderr, "Failed to set direction!!\n");
- close(fd);
- return(-1);
- }
-
- close(fd);
- return(0);
-}
-
-void error_handling(char *message){
- fputs(message,stderr);
- fputc('\n', stderr);
- exit(1);
-}
-
-
-
-int main(int argc, char** argv)
-{
- int angle = 500000;
- int direction = 1; // 1: 증가, -1: 감소
- int clnt_sock;
- struct sockaddr_in serv_addr;
- char msg[2];
-
- char on[2]="1";
- int str_len;
- int light = 0;
- int repeat = 100000000;
- // 이전 상태와 현재 상태를 추적하기 위한 변수
- int state = 1;
- int prev_state = 1;
-
-
-
- // perform hardware check
- if (!radio.begin()) {
- cout << "radio hardware is not responding!!" << endl;
- return 0; // quit now
- }
-
- // to use different addresses on a pair of radios, we need a variable to
- // uniquely identify which address this radio will use to transmit
- bool radioNumber = 1; // 0 uses address[0] to transmit, 1 uses address[1] to transmit
-
- // print example's name
- cout << argv[0] << endl;
-
- // Let these addresses be used for the pair
- uint8_t address[2][6] = {"1Node", "LIFT1"};
- // It is very helpful to think of an address as a path instead of as
- // an identifying device destination
-
- // Set the radioNumber via the terminal on startup
- cout << "Which radio is this? Enter '0' or '1'. Defaults to '0' ";
- string input;
- getline(cin, input);
- radioNumber = input.length() > 0 && (uint8_t)input[0] == 49;
-
- // save on transmission time by setting the radio to only transmit the
- // number of bytes we need to transmit a float
- radio.setPayloadSize(sizeof(payload)); // float datatype occupies 4 bytes
-
- // Set the PA Level low to try preventing power supply related problems
- // because these examples are likely run with nodes in close proximity to
- // each other.
- radio.setPALevel(RF24_PA_LOW); // RF24_PA_MAX is default.
-
- // set the TX address of the RX node into the TX pipe
- radio.openWritingPipe(address[radioNumber]); // always uses pipe 0
-
- // set the RX address of the TX node into a RX pipe
- radio.openReadingPipe(1, address[!radioNumber]); // using pipe 1
-
- // For debugging info
- // radio.printDetails(); // (smaller) function that prints raw register values
- // radio.printPrettyDetails(); // (larger) function that prints human readable data
-
- // ready to execute program now
- if(argc!=3){
- printf("Usage : %s <IP> <port>\n",argv[0]);
- exit(1);
- }
- clnt_sock = socket(PF_INET, SOCK_STREAM, 0);
- if(clnt_sock == -1)
- error_handling("socket() error");
-
- memset(&serv_addr, 0, sizeof(serv_addr));
- serv_addr.sin_family = AF_INET;
- serv_addr.sin_addr.s_addr = inet_addr(argv[1]);
- serv_addr.sin_port = htons(atoi(argv[2]));
-
- if(connect(clnt_sock, (struct sockaddr*)&serv_addr, sizeof(serv_addr))==-1)
- error_handling("connect() error");
-
- if(-1 == GPIOExport(POUT2) || -1 == GPIOExport(PIN))
- {
- return(1);
- }
-
-
- if(-1 == GPIODirection(POUT2, OUT) || -1 == GPIODirection(PIN, IN))
- {
- return(2);
- }
-
- PWMExport(PWM);
- PWMWritePeriod(PWM, 20000000);
- PWMWriteDutyCycle(PWM, 0);
- PWMEnable(PWM);
-
-
- do {
- if (-1 == GPIOWrite(POUT2, 1)) {
- return 3;
- }
-
- str_len = read(clnt_sock, msg, sizeof(msg));
- if(str_len == -1)
- error_handling("read() error");
-
- printf("Receive message from Server : %s\n",msg);
- /*if(strncmp(on,msg,1)==0)
- light = 1;
- else
- light = 0;
-
- GPIOWrite(POUT, light);*/
- int pinValue = GPIORead(PIN);
- printf("GPIORead: %d from pin %d\n", pinValue, PIN);
- printf("angle: %d\n", angle);
-
- // 상태 변화 감지
- if (pinValue != prev_state) {
- state = pinValue;
-
- }
- // 문자열을 정수로 변환
- float a = atoi(msg);
-
- if(a == 1){
- // GPIORead(PIN)의 값이 0일 때에만 서보모터 제어
- if (state == 0) {
- PWMWriteDutyCycle(PWM, angle);
- printf("angle: %d\n", angle);
- angle += 50000*direction; // 각도 변경 방향에 따라 각도 증감
- usleep(100000);
- // 최대 각도 또는 최소 각도에 도달하면 방향 변경
- if (angle >= MAX_ANGLE || angle <= MIN_ANGLE) {
- direction *= -1;
- usleep(5000000);
- //c=최대각도 혹은 최소각도에 도달했을 때 잠깐 멈추기
- }
- }
- }else{
- PWMWriteDutyCycle(PWM, angle);
- printf("angle: %d\n", angle);
-
- if (angle > MIN_ANGLE) {
- printf("angle: %d\n", angle);
- angle -= 50000*direction; //서보모터 각도 감소(사람 없다고 판단시 리프트 자동 내려감)
- usleep(100000);
- }
-
- }
- prev_state = pinValue;
-
- radio.stopListening(); // put radio in TX mode
-
-
-
- unsigned int failure = 0; // keep track of failures
- payload = a;
- while (failure < 2) {
- clock_gettime(CLOCK_MONOTONIC_RAW, &startTimer); // start the timer
- bool report = radio.write(&payload, sizeof(float)); // transmit & save the report
- uint32_t timerElapsed = getMicros(); // end the timer
-
- if (report) {
- // payload was delivered
- cout << "Transmission successful! Time to transmit = ";
- cout << timerElapsed; // print the timer result
- cout << " us. Sent: " << payload << endl; // print payload sent
- }
- else {
- // payload was not delivered
- cout << "Transmission failed or timed out" << endl;
-
- }
- failure++;
-
- // to make this example readable in the terminal
- delay(1000); // slow transmissions down by 1 second
- }
- cout << failure << " failures detected. Leaving TX role." << endl;
-
-
-
- }while(repeat--);
-
-
-
- if( -1 == GPIOUnexport(POUT2) || -1 == GPIOUnexport(PIN))
- {
- return(4);
- }
-
- close(clnt_sock);
- //Disable GPIO pins
- /*if (-1 == GPIOUnexport(POUT))
- return(4);*/
-
-
- return 0;
-}
-
-
-/**
- * Calculate the elapsed time in microseconds
- */
-uint32_t getMicros()
-{
- // this function assumes that the timer was started using
- // `clock_gettime(CLOCK_MONOTONIC_RAW, &startTimer);`
-
- clock_gettime(CLOCK_MONOTONIC_RAW, &endTimer);
- uint32_t seconds = endTimer.tv_sec - startTimer.tv_sec;
- uint32_t useconds = (endTimer.tv_nsec - startTimer.tv_nsec) / 1000;
-
- return ((seconds)*1000 + useconds) + 0.5;
-}