【广播&通讯】

1.机械臂

#include 
#include 
#include 
#include 
#include 
#define PORT 8888
#define IP "192.168.122.170"

int main(int argc, const char *argv[])
{
    int sfd=socket(AF_INET,SOCK_STREAM,0);
    if(sfd == -1) 
    {   
        perror("open socket");
        return -1; 
    }   
    
    int reuse=1;
    if(setsockopt(sfd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse)) ==-1 )
    {   
        perror("setsockopt");
        return -1; 
    }   

    struct sockaddr_in client;
    client.sin_family = AF_INET;
    client.sin_addr.s_addr = inet_addr(IP); 
    client.sin_port = htons(PORT);

    if(connect(sfd,(struct sockaddr*)&client, sizeof(client)) == -1) 
    {   
        perror("open connect");
        return -1; 
    }   

    char red_buf[5]={0xff, 0x02, 0x00, 0x00, 0xff};
    unsigned char blue_buf[5]={0xff, 0x02, 0x01, 0x00, 0xff};
    
    char value;
    
    
     while(1)
    {   
        value=getchar();
        if(value == '#')
        {
            printf("您已经退出\n");
            break;
        }
        switch(value)
        {
        case 'w':
        case 'W':
            if(red_buf[3]>90)
            {
                red_buf[3] =90;
                send(sfd, red_buf, sizeof(red_buf), 0); 
                break;
            }
            red_buf[3] +=5;
            send(sfd, red_buf, sizeof(red_buf), 0); 
            break;
        case 's':
        case 'S':
            if(red_buf[3]< -90)
            {
                red_buf[3]=-90;
                send(sfd, red_buf, sizeof(red_buf), 0); 
                break;
            }
            red_buf[3] -=5;
            send(sfd, red_buf, sizeof(red_buf), 0); 
            break;
        case 'a':
        case 'A':
            if(blue_buf[3]<0)
            {
                blue_buf[3] =0; 
                send(sfd, blue_buf, sizeof(blue_buf), 0); 
                break;
            }
            blue_buf[3] -=5;
            send(sfd, blue_buf, sizeof(blue_buf), 0); 
            break;
        case 'd':
        case 'D':
            if(blue_buf[3]>180)
            {
                blue_buf[3] =180;
                send(sfd, blue_buf, sizeof(blue_buf), 0);
                break;
            }
            blue_buf[3] +=5;
            send(sfd, blue_buf, sizeof(blue_buf), 0); 
            break;
        }
    }   



    return 0;
}