 
 void loop() 
 {
-  static uint32_t tTime[8];
-
+  static uint32_t tTime[3];
+
+  if( (millis()-tTime[0]) >= 500 )
+  {
+    tTime[0] = millis();
+    LED.toggle();
+  }
+
+  IMU.update();
   //-- 명령어 수신 처리 
   //
   process_recv_cmd();
 
+  //-- 100ms마다 ROV정보 전달
+  //
+  if( (millis()-tTime[1]) >= 100 )
+  {
+    tTime[1] = millis();
+
+   sout_IMU_info();
+   send_cmd_info();
+  }
+  cal_IMU_acc();
+
+
   if(USB_TEST_AVAILABLE)
   rc_usb_test();
-
-  //-- 100ms마다 ROV정보 전달
-  //
-  if( (tTime[0] - millis()) >= 100 )
-  {
-    tTime[0] = millis();
-
-    send_cmd_info();
-
-    if( IsConnected == true )
-    {
-      //Serial.println("Connected");
-    }
-  }
-
+  
   //-- 연결이 끊어진 상태 
   //
 /* 

  {
        pCmd  = RovSerial.Get_CmdPtr(); 

    /*  
    Serial.print("Cmd : ");
    Serial.print( pCmd->Cmd, HEX);
    Serial.print(" Size : ");
    Serial.print( pCmd->Length, DEC);
    Serial.print(" ");
    for( i=0; i<pCmd->Length; i++ )
    {
      Serial.print(pCmd->Data[i]);
      Serial.print(" ");
    }
    Serial.println(" ");
    */

    switch( pCmd->Cmd )
    {
      case 0x01:
        IsConnected = true;

  //Led_Right
  if(pCmd->Data[3] == 1)
  {
    Led[1] = (LED_OFF - (pCmd->Data[5]<<8) | (pCmd->Data[4]));
    Serial.print("Led_R : ");
    Serial.println(Led[1]);
    analogWrite(LED_PIN_R, Led[1]);
