#if defined(__linux__) || defined(__APPLE__) #include #include #define STDIN_FILENO 0 #elif defined(_WIN32) || defined(_WIN64) #include #endif #include #include #include #include #include #include #include #include #include #include #define ADDR_PRO_TORQUE_ENABLE 562 // Control table address is different in Dynamixel model #define ADDR_PRO_GOAL_POSITION 596 #define ADDR_PRO_PRESENT_POSITION 611 #define ADDR_MX_TORQUE_ENABLE 64 // Control table address is different in Dynamixel model #define ADDR_MX_GOAL_POSITION 116 #define ADDR_MX_PRESENT_POSITION 132 #define LEN_MX_GOAL_POSITION 4 #define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel #define BAUDRATE 1000000 //57600 #define DEVICENAME "/dev/ttyUSB0" // Check which port is being used on your controller // ex) Windows: "COM1" Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*" #define PORT 8080 #define TORQUE_ENABLE 1 // Value for enabling the torque #define TORQUE_DISABLE 0 // Value for disabling the torque #define ESC_ASCII_VALUE 0x1b int client() { int sock; char buffer[3] = {0}; struct sockaddr_in addr; // ????????? ? ??????? sock = socket(AF_INET, SOCK_STREAM, 0); // ???????? TCP-?????? if(sock < 0) { perror("socket"); exit(1); } addr.sin_family = AF_INET; // ?????? Internet addr.sin_port = htons(PORT); // ??? ????? ?????? ????... addr.sin_addr.s_addr = inet_addr("127.0.0.1"); //127.0.0.1 //addr.sin_addr.s_addr = inet_addr("10.1.198.173"); //127.0.0.1 printf("Try to connect\n"); connect(sock, (struct sockaddr *)&addr, sizeof(addr));// ????????? ?????????? ? ???????? recv(sock , buffer , 3, 0); printf("received data: %s\n", buffer); close(sock); int result = 0; for (int i = 0; i < sizeof(buffer); i++) { result += (*(buffer+i)-'0') * pow(10, (sizeof(buffer)-i-1)); } return result; } //Function for adjust the robot's initial position void motors_pos(int m_arr[], int *goal_position) { *goal_position = 11*client(); // get position from client // Add Dynamixel#1 goal position value to the Syncwrite storage dxl_addparam_result = groupSyncWrite.addParam(m_arr[0], p_position); if (dxl_addparam_result != true) { fprintf(stderr, "[ID:%03d] groupSyncWrite addparam failed", m_arr[0]); break; } printf("Position: %d\n", goal_position); //} } /**************************************************/ int main() { int motors[1] = {2}; int pos =0; motors_pos(motors, &pos); return 0; }

client and pointers data