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//-------------------------------------------------------------- | |
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; |