控制机械臂
#include <myhd.h>
#define SERPORT 8888
#define SERIP "192.168.125.225"
int main(int argc, const char *argv[])
{
char buf[5]="";
buf[0]=0xff;
buf[1]=0x02;
buf[2]=0x00;
buf[3]=90;
buf[4]=0xff;
//1、创建客户端套接字文件描述符
int cfd;
if((cfd=socket(AF_INET,SOCK_STREAM,0))==-1)
{
perror("socket error");
return -1;
}
printf("cfd=%d\n",cfd);
//2、绑定
//2.1、初始化绑定结构体
//3、连接
//3.1、初始化结构体
struct sockaddr_in sin;
sin.sin_family=AF_INET;
sin.sin_port=htons(SERPORT);
sin.sin_addr.s_addr=inet_addr(SERIP);
//3.2、开始连接
if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
{
perror("connect error");
return -1;
}
printf("connect success\n");
//4、发
char a;
while(1)
{
printf("请输入w/s/a/d:");
scanf("%c",&a);
switch (a)
{
case 'w':buf[2]=0x01;buf[3]++;break;
case 's':buf[2]=0x01;buf[3]--;break;
case 'a':buf[2]=0x00;buf[3]++;break;
case 'd':buf[2]=0x00;buf[3]--;break;
default:printf("输入错误,请输入w/s/a/d\n");
}
if(send(cfd,buf,sizeof(buf),0)==-1)
{
perror("send error");
return -1;
}
printf("send success\n");
}
//5、关闭套接字文件描述符
close(cfd);
return 0;
}