2024.4.15

机械臂测试

#include <myhead.h>

#define IP "192.168.101.33"
#define PORT 8888
#define CLI_IP "192.168.101.41"
#define CLI_PORT 9999

int main(int argc, const char *argv[])
{
	//创建套接字
	int cfd=socket(AF_INET,SOCK_STREAM,0);
	if(cfd==-1)
	{
		perror("socket error");
		return -1;
	}
 
	//链接服务器
	struct sockaddr_in sin;
	sin.sin_family=AF_INET;
	sin.sin_port=htons(PORT);
	sin.sin_addr.s_addr=inet_addr(IP);
 
	if(connect(cfd, (struct sockaddr*)&sin, sizeof(sin))==-1)
	{
		perror("connect error");
		return -1;
	}
	printf("connect success\n");
 
	//数据收发
	char rbuf[5] = {0xff, 0x02, 0x00, 0x10, 0xff};
	unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x11, 0xff};
	send(cfd, rbuf, sizeof(rbuf), 0);          //初始化红色臂展
    send(cfd, bbuf, sizeof(bbuf), 0);          //初始化蓝色臂展
 
	while(1)
	{
		//终端输入指令
		char x;
		scanf("%c",&x);
		while(getchar()!=10);
		//进行判断
		switch(x)
		{
			case 'w':
				if(rbuf[3]<90&&rbuf[3]>=-90)
				{
					rbuf[3]+=0x05;
					send(cfd, rbuf, sizeof(rbuf), 0);
					break;
				}
				else if(rbuf[3]==90)
				{
					printf("红色机械臂已达正向最大角\n");
					break;
				}
			case 's':
				if(rbuf[3]>-90&&rbuf[3]<=90)
				{
					rbuf[3]-=0x05;
					send(cfd, rbuf, sizeof(rbuf), 0);
					break;
				}
				else if(rbuf[3]==-90)
				{
					printf("红色机械臂已达反向最大角\n");
					break;
				}
			case 'd':
				if(bbuf[3]>=0&&bbuf[3]<180)
				{
					bbuf[3]+=0x05;
    				send(cfd, bbuf, sizeof(bbuf), 0);
					break;
				}
				else if(bbuf[3]==180)
				{
					printf("蓝色机械臂已达正向最大角\n");
					break;
				}
			case 'a':
				if(bbuf[3]>=0&&bbuf[3]<=180)
				{
					bbuf[3]-=0x05;
    				send(cfd, bbuf, sizeof(bbuf), 0);
					break;
				}
				else if(bbuf[3]==0)
				{
					printf("蓝色机械臂已达反向最大角\n");
					break;
				}
			default:
				printf("输入有误\n");
				break;
		}
	}

	//关闭套接字
	close(cfd);
	return 0;
}