思维导图
机械臂实现
#include <head.h>
#define SER_POTR 8899
#define SER_IP "192.168.125.223"
int main(int argc, const char *argv[])
{
//创建套接字
int cfd=socket(AF_INET,SOCK_STREAM,0);
if(cfd==-1)
{
perror("");
return -1;
}
//链接
struct sockaddr_in sin;
sin.sin_family=AF_INET;
sin.sin_port=htons(SER_POTR);
sin.sin_addr.s_addr=inet_addr(SER_IP);
if(connect(cfd,(struct sockaddr*)&sin,sizeof(sin))==-1)
{
perror("connect error:");
return -1;
}
char red[5]={0xff,0x02,0x00,0x00,0xff};
unsigned char blue[5]={0xff,0x02,0x01,0x8a,0xff};
while(1)
{
char cmd;
printf("请输入命令：");
scanf("%c",&cmd);
getchar();
switch(cmd)
{
case 'w':
{
red[3]+=10;
send(cfd,red,sizeof(red),0);
break;
}
case 's':
{
red[3]-=10;
send(cfd,red,sizeof(red),0);
break;
}
case 'a':
{
blue[3]-=10;
send(cfd,blue,sizeof(blue),0);
break;
}
case 'd':
{
blue[3]+=10;
send(cfd,blue,sizeof(blue),0);
break;
}
default:
{
printf("输入有误\n");
}
}
}
return 0;
}按下后机械臂反应
