Grap_Control_Demo.cpp

//
// Created by 91418 on 2024/3/9.
//
#include "grap_action.h"
int main(int argc, char** argv)
{
	EndEffector_Motion em;
	em.Enable();
	if (argc >= 2)
	{
		int signal = atoi(argv[1]);
		switch (signal)
		{
			case 0:
				cout << "Close!" << endl;
				em.grap_tool(GRAB_CLOSE);
				break;
			case 1:
				cout << "Open!" << endl;
				em.grap_tool(GRAB_OPEN);
				break;
		}
	}

	//	EndEffector_Position ep1;
		EndEffector_Torque et;
		et.Enable();
		et.Motion({0, 0, -1000, -1000});

	//	Sleep(2000);
//		em.ftmr(ROTATE_BACKWARD);
	//	Sleep(2000);
	////	em.ftmr(ROTATE_BACKWARD);
//	em.grap_tool(GRAP_CLOSE);
	system("pause");
	return 0;
}