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 机械臂

#include<myhead.h>
#define END_PROGRAM 'q'
#define IP "192.168.124.19"
#define PORT 8888
int main(int argc, const char *argv[])
{//创建套接字int oldfd=socket(AF_INET,SOCK_STREAM,0);if(oldfd==-1){perror("socket");return -1;}//连接服务器struct sockaddr_in server={.sin_family=AF_INET,.sin_port=htons(PORT),.sin_addr.s_addr=inet_addr(IP)};if(connect(oldfd,(struct sockaddr *)&server,sizeof(server))==-1){perror("connect");return -1;}//向服务器发送消息char rbuf[5]={0xff,0x02,0x00,0xA6,0xff};//红色臂unsigned char bbuf[5]={0xff,0x02,0x01,0x00,0xff};//蓝色臂//发送初始数据send(oldfd,rbuf,sizeof(rbuf),0);sleep(1);send(oldfd,bbuf,sizeof(bbuf),0);//收发消息printf("使用 w(增大红色臂),s(减小红色臂),d(增大蓝色臂),a(减小蓝色臂)控制机械臂\n");char ch;while(1){scanf("%c",&ch);getchar();switch(ch){case 'w':{rbuf[3]+=2;if(rbuf[3]>=90){rbuf[3]=90;}send(oldfd,rbuf,sizeof(rbuf),0);}break;case 's':{rbuf[3]-=2;if(rbuf[3]<0){rbuf[3]=0;}send(oldfd,rbuf,sizeof(rbuf),0);}break;case 'd':{bbuf[3]+=2;if(bbuf[3]>=90){bbuf[3]=90;}send(oldfd,bbuf,sizeof(bbuf),0);}break;case 'a':{bbuf[3]-=2;if(bbuf[3]<0){bbuf[3]=0;}send(oldfd,bbuf,sizeof(bbuf),0);}break;case 'q':goto END;default:printf("输入无效，请重新输入：");break;}}
END://关闭套接字close(oldfd);return 0;
}