robo-arm-pi/robot.cpp at master · robgithub/robo-arm-pi · GitHub

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#include <stdlib.h>
#include <stdio.h>
#include <curses.h>
#include "robotarm.h"


int main(void) {
	try {
		initscr();
		timeout(-1);

		printw("Robot arm interface by P. Dring\n");

		printw("Grip commands: i, o, p\n\r");
		printw("Base commands: k, l, ;\n\r");
		printw("Wrist commands: w, s, x\n\r");
		printw("Elbow commands: e, d, c\n\r");
		printw("Shoulder commands: r, f, v\n\r");
		printw("Toggle LED: space\n\r");
		printw("Quit: q\n\r");


		RobotArm roboarm;

		roboarm.connect();
		bool LED = false;
		bool running = true;
		while(running) {
			int key = getch();
			switch(key) {
				// grip
				case 'i': roboarm.setGrip(RobotArm::ARM_OPEN); break;
				case 'o': roboarm.setGrip(RobotArm::ARM_STOP); break;
				case 'p': roboarm.setGrip(RobotArm::ARM_CLOSE); break;

				// base
				case 'k': roboarm.setBase(RobotArm::ARM_ANTICLOCKWISE); break;
				case 'l': roboarm.setBase(RobotArm::ARM_STOP); break;
				case ';': roboarm.setBase(RobotArm::ARM_CLOCKWISE); break;

				// wrist
				case 'w': roboarm.setWrist(RobotArm::ARM_UP); break;
				case 's': roboarm.setWrist(RobotArm::ARM_STOP); break;
				case 'x': roboarm.setWrist(RobotArm::ARM_DOWN); break;

				// elbow
				case 'e': roboarm.setElbow(RobotArm::ARM_UP); break;
				case 'd': roboarm.setElbow(RobotArm::ARM_STOP); break;
				case 'c': roboarm.setElbow(RobotArm::ARM_DOWN); break;

				// shoulder
				case 'r': roboarm.setShoulder(RobotArm::ARM_UP); break;
				case 'f': roboarm.setShoulder(RobotArm::ARM_STOP); break;
				case 'v': roboarm.setShoulder(RobotArm::ARM_DOWN); break;

				// LED
				case ' ': roboarm.setLED(LED = !LED); break;

				// quit
				case 'q': roboarm.stopAll(); running = false; break;
			}
		}


		roboarm.stopAll();

		roboarm.disconnect();
		endwin();

	} catch(const char * message) {
		endwin();
		printf("%s\n\r", message);
		return(1);
	}

	printf("Find out more at https://github.com/pddring/robo-arm-pi\n");
	return 0;
}