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#include <Windows.h>
#include "CommunicationLayerWindows.h"
#include "CommandLayer.h"
#include <conio.h>
#include "KinovaTypes.h"
#include <iostream>


using namespace std;

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#include "ARM_BASE_ANGLES.h"
#include <Windows.h>
#include "CommunicationLayerWindows.h"
#include "CommandLayer.h"
#include <conio.h>
#include "KinovaTypes.h"
#include <iostream>

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#define DllExport __declspec(dllexport)
// https://docs.microsoft.com/en-us/cpp/build/exporting-from-a-dll-using-declspec-dllexport

extern "C"
{
	DllExport int TestFunction();
	DllExport int InitRobot();
	DllExport int MoveArmHome(bool rightArm);
	DllExport int MoveHand(bool rightArm, float x, float y, float z, float thetaX, float thetaY, float thetaZ);

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#define DllExport __declspec(dllexport)
// https://docs.microsoft.com/en-us/cpp/build/exporting-from-a-dll-using-declspec-dllexport

extern "C"
{
  DllExport int TestFunction();
  DllExport int InitRobot();
  DllExport int MoveArmHome(bool rightArm);
  DllExport int MoveHand(bool rightArm, float x, float y, float z, float thetaX, float thetaY, float thetaZ);

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#include "ARM_base.h"
#include <Windows.h>
#include "Lib_Examples\CommunicationLayerWindows.h"
#include "Lib_Examples\CommandLayer.h"
#include <conio.h>
#include "Lib_Examples\KinovaTypes.h"
#include <iostream>

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#include <Windows.h>
#include "CommunicationLayerWindows.h"
#include "CommandLayer.h"
#include <conio.h>
#include "KinovaTypes.h"
#include <iostream>


using namespace std;

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using System;
using Random = System.Random;
using System.Threading;
using System.IO.Ports;
using System.Diagnostics;

    public class Hand_CMD_Test
    {
        private static SerialPort handPortL;
        private static SerialPort handPortR;

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