27 lines
734 B
C++
Executable File
27 lines
734 B
C++
Executable File
/*****************************************************************
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Copyright (c) 2022, Unitree Robotics.Co.Ltd. All rights reserved.
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*****************************************************************/
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#include "unitree_arm_sdk/unitree_arm_sdk.h"
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int main(){
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UDPPort udp("127.0.0.1", 8072, 8071, sizeof(SendCmd), BlockYN::NO, 500000);
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SendCmd sendCmd;
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RecvState recvState;
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sendCmd = {0};
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recvState = {0};
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recvState.head[0] = 0xFE;
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recvState.head[1] = 0xFF;
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bool turn = true;
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while(true){
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udp.send((uint8_t*)&recvState, sizeof(RecvState));
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udp.recv((uint8_t*)&sendCmd, sizeof(SendCmd));
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printf("%d \n", (int)sendCmd.state);
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usleep(2000);
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}
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return 0;
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} |