Use cases

In this case, three output pins of m5 are set to high level. and then make the robot arm moves to zero point. The program ends when the robot arm reaches the zero point. The myCobotExample.cpp in the project is a use case. You may modify it based on your needs:

int main(int argc, char* argv[])
{
    try {
    QCoreApplication a(argc, argv);
    using namespace std::chrono_literals;
    if (!mycobot::MyCobot::I().IsControllerConnected()) {
        std::cerr << "Robot is not connected\n";
        exit(EXIT_FAILURE);
    }
    std::cout << "Robot is connected\n";
    mycobot::MyCobot::I().PowerOn();

    mycobot::MyCobot::I().SleepSecond(1);


    mycobot::MyCobot::I().SetBasicOut(2, 1);
    mycobot::MyCobot::I().SleepSecond(1);
    mycobot::MyCobot::I().SetBasicOut(5, 1);
    mycobot::MyCobot::I().SleepSecond(1);
    mycobot::MyCobot::I().SetBasicOut(26, 1);
    mycobot::MyCobot::I().SleepSecond(1);


    /*for (int i = 0; i < 2; i++) {
        std::cout << "35= " << mycobot::MyCobot::I().GetBasicIn(35) << std::endl;
        mycobot::MyCobot::I().SleepSecond(1);
        std::cout << "36= " << mycobot::MyCobot::I().GetBasicIn(36) << std::endl;
        mycobot::MyCobot::I().SleepSecond(1);
    }*/


    /*mycobot::MyCobot::I().SetDigitalOut(23, 1);
    mycobot::MyCobot::I().SleepSecond(1);
    mycobot::MyCobot::I().SetDigitalOut(33, 1);
    mycobot::MyCobot::I().SleepSecond(1);*/


    /*for (int i = 0; i < 2; i++) {
        std::cout << "22= " << mycobot::MyCobot::I().GetDigitalIn(22) << std::endl;
        mycobot::MyCobot::I().SleepSecond(1);
        std::cout << "19= " << mycobot::MyCobot::I().GetDigitalIn(19) << std::endl;
        mycobot::MyCobot::I().SleepSecond(1);
    }*/


    /*for (int i = 0; i < 2; i++) {
        mycobot::MyCobot::I().SetGriper(1);
        mycobot::MyCobot::I().SleepSecond(3);
        mycobot::MyCobot::I().SetGriper(0);
        mycobot::MyCobot::I().SleepSecond(3);
    }*/


    /*for (int i = 0; i < 2; i++) {
        mycobot::MyCobot::I().SetElectricGriper(1);
        mycobot::MyCobot::I().SleepSecond(1);
        mycobot::MyCobot::I().SetElectricGriper(0);
        mycobot::MyCobot::I().SleepSecond(1);
    }*/
    mycobot::MyCobot::I().StopRobot();
    std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
    mycobot::Angles angles = mycobot::MyCobot::I().GetAngles();
    std::this_thread::sleep_for(200ms);
    mycobot::Coords coords = mycobot::MyCobot::I().GetCoords();
    angles = mycobot::MyCobot::I().GetAngles();
    std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", " << angles[mycobot::J3] << ", "
        << angles[mycobot::J4] << ", " << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]";
    mycobot::Angles goal_angles = { 1, 0, 0, 0, 0, 0 };
    mycobot::MyCobot::I().WriteAngles(goal_angles,180);
    while (!mycobot::MyCobot::I().IsInPosition(goal_angles, false)) {
        angles = mycobot::MyCobot::I().GetAngles();
        std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", "
            << angles[mycobot::J3] << ", " << angles[mycobot::J4] << ", "
            << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]" << std::flush;
        std::this_thread::sleep_for(200ms);
    }

    //mycobot::MyCobot::I().JogAngle(mycobot::Joint::J1, 1, 5);
    std::this_thread::sleep_for(5000ms);
    mycobot::MyCobot::I().StopRobot();

    std::cout << "\n";
    exit(EXIT_SUCCESS);
    } catch (std::error_code&) {
    std::cerr << "System error. Exiting.\n";
    exit(EXIT_FAILURE);
    } catch (...) {
    std::cerr << "Unknown exception thrown. Exiting.\n";
    exit(EXIT_FAILURE);
    }
}