#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 , 0.0 , 2.0 };   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();}