Please refer to this program:
#include “xarm/wrapper/xarm_api.h”
int main(int argc, char **argv) {
if (argc < 2) {
printf(“Please enter IP address\n”);
return 0;
}
std::string port(argv[1]);
XArmAPI *arm = new XArmAPI(port);
sleep_milliseconds(500);
if (arm->error_code != 0) arm->clean_error();
if (arm->warn_code != 0) arm->clean_warn();
arm->motion_enable(true);
arm->set_mode(0);
arm->set_state(0);
sleep_milliseconds(500);
printf("=========================================\n");
int ret;
fp32 poses[6][6] = {
{300, 0, 200, 180, 0, 0},
{300, 200, 200, 180, 0, 0},
{500, 200, 200, 180, 0, 0},
{500, -200, 200, 180, 0, 0},
{300, -200, 200, 180, 0, 0},
{300, 0, 200, 180, 0, 0},
};
for (int i = 0; i < 6; i++) {
ret = arm->set_position(poses[i], true);
printf("set_position, ret=%d\n", ret);
}
return 0;
}