24 lines
718 B
C++
24 lines
718 B
C++
/**
|
|
* @file handshake.cpp
|
|
* @brief G1 handshake: arm "shake hand"(27) -> Inspire hand grips -> thumbs-up -> release(99).
|
|
*
|
|
* ./handshake [networkInterface] (default iface: eth0)
|
|
*
|
|
* Needs ./inspire_g1 running for the fingers. The ARM physically moves —
|
|
* clear space + E-stop ready.
|
|
*/
|
|
#include "greet_common.hpp"
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
const std::string iface = argc > 1 ? argv[1] : "eth0";
|
|
auto arm = greet_init(iface);
|
|
Hand hand;
|
|
usleep(300000); // let DDS match the arm service + inspire_g1
|
|
|
|
std::cout << "*** HANDSHAKE (arm + hand). Clear space, E-stop ready. ***" << std::endl;
|
|
runHandshake(*arm, hand);
|
|
std::cout << "done." << std::endl;
|
|
return 0;
|
|
}
|