/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <stdio.h>#include <stdlib.h>#include <time.h>#include <unistd.h>#include <carmen/carmen.h>#include "../arm_low_level.h"int main( int argn, char **argv ){  // so the program does not complain  argn = argn;  argv = argv;  fprintf( stderr,  " started program... \n" );  // create the model  carmen_arm_model_t arm_model;  arm_model.dev = "/dev/ttyUSB0";  arm_model.num_joints = 3;  // initialize  carmen_arm_direct_initialize( &arm_model );  // set desired angles : order is always end -> base (elbow, shoulder, hip )  double joint_angles[3] = { 0.0 , -0.3 , 0.0};   for( int i = 0; i < 200; ++i ){    fprintf( stderr,  " inside control loop \n" );    carmen_arm_direct_update_joints( joint_angles );             double curr_joint_angles[3];      double curr_joint_currents[3];      double curr_joint_angular_vels[3];      int curr_gripper_closed[1];             carmen_arm_direct_get_state(curr_joint_angles, curr_joint_currents,				 curr_joint_angular_vels, 				 curr_gripper_closed );      printf("          on iter %d \n", i );       printf("\nJoint Angles: %f %f %f\n", curr_joint_angles[0],curr_joint_angles[1],curr_joint_angles[2]);       printf("Joint Currents: %f %f %f\n", curr_joint_currents[0],curr_joint_currents[1],curr_joint_currents[2]);       printf("Joint Angular Vels: %f %f %f\n", curr_joint_angular_vels[0],curr_joint_angular_vels[1],curr_joint_angular_vels[2]);      }    // clean up  carmen_arm_direct_shutdown();}