UArm control from Openframeworks

ofApp.cpp

//--------------------------------------------------------------
void ofApp::setup() {
    uarm.setup("/dev/tty.usbserial-A600CRMU", 9600);
}

//--------------------------------------------------------------
// x, y, z in cylindrical coordinates, handRot in degrees
void ofApp::setArmTo(int x, int y, int z, int handRot, bool gripper) {
    // UArm expects 1 for an open gripper and 2 for a closed gripper
    gripper = (int)gripper + 1;
    unsigned char bytes[11] = {
        0xFF,
        0xAA,
        static_cast<unsigned char>((x >> 8) & 0xFF),
        static_cast<unsigned char>(x & 0xFF),
        static_cast<unsigned char>((y >> 8) & 0xFF),
        static_cast<unsigned char>(y & 0xFF),
        static_cast<unsigned char>((z >> 8) & 0xFF),
        static_cast<unsigned char>(z & 0xFF),
        static_cast<unsigned char>((handRot >> 8) & 0xFF),
        static_cast<unsigned char>(handRot & 0xFF),
        static_cast<unsigned char>(gripper)
    };
    uarm.writeBytes(&bytes[0], 11);
}

//--------------------------------------------------------------
void ofApp::exit() {
    uarm.flush(true,true);
}

ofApp.h

#pragma once

#include "ofMain.h"

class ofApp : public ofBaseApp {

	public:
		void setup();
		void exit();
    
		ofSerial uarm;
		void setArmTo(int x, int y, int z, int handRot, bool gripper);
		
};