24 lines
706 B
C++
24 lines
706 B
C++
/**
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* @file thumbup.cpp
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* @brief G1 thumbs-up: arm "right hand up"(23) -> Inspire hand thumbs-up -> release(99).
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*
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* ./thumbup [networkInterface] (default iface: eth0)
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*
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* Needs ./inspire_g1 running for the fingers. The ARM physically moves —
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* clear space + E-stop ready.
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*/
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#include "greet_common.hpp"
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int main(int argc, char **argv)
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{
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const std::string iface = argc > 1 ? argv[1] : "eth0";
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auto arm = greet_init(iface);
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Hand hand;
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usleep(300000); // let DDS match the arm service + inspire_g1
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std::cout << "*** THUMBS-UP (arm + hand). Clear space, E-stop ready. ***" << std::endl;
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runThumbup(*arm, hand);
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std::cout << "done." << std::endl;
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return 0;
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}
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