思维导图

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include <semaphore.h>
#include <wait.h>
#include <signal.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <sys/ipc.h>
#include <sys/sem.h>
#include <semaphore.h>
#include <sys/msg.h>
#include <sys/shm.h>
#include <sys/un.h>
#define IP "192.168.125.26"
#define PORT 8888int main(int argc, const char *argv[])
{
int cfd=socket(AF_INET,SOCK_STREAM,0);if(cfd==-1){perror("socket error");return -1;}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");char rbuf[5] = {0xff, 0x02, 0x00, 0x00, 0xff};unsigned char bbuf[5] = {0xff, 0x02, 0x01, 0x00, 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){char ch;scanf("%c",&ch);while(getchar()!=10);switch(ch){case 'w':if(rbuf[3]<=80&&rbuf[3]>=-90){rbuf[3]+=0x0A;send(cfd, rbuf, sizeof(rbuf), 0);break;}else if(rbuf[3]==90){printf("红色机械臂已到达正向最大扭矩\n");break;}case 's':if(rbuf[3]>=-80&&rbuf[3]<=90){rbuf[3]-=0x0A;send(cfd, rbuf, sizeof(rbuf), 0);break;}else if(rbuf[3]==-90){printf("红色机械臂已到达反向最大扭矩\n");break;}case 'd':if(bbuf[3]>=0&&bbuf[3]<=170){bbuf[3]+=0x0A;send(cfd, bbuf, sizeof(bbuf), 0);break;}else if(bbuf[3]==180){printf("蓝色机械臂已到达正向最大扭矩\n");break;}case 'a':if(bbuf[3]>=10&&bbuf[3]<=180){bbuf[3]-=0x0A;send(cfd, bbuf, sizeof(bbuf), 0);break;}else if(bbuf[3]==0){printf("蓝色机械臂已到达反向最大扭矩\n");break;}default:printf("输入有误\n");break;}}close(cfd);return 0;
}