基于TCP通信控制红色机械臂和蓝色机械臂的运作

1、项目要求：通过w（红色臂角度增大）s（红色臂角度减小）d（蓝色臂角度增大）a（蓝色臂角度减小）

#include <myhead.h>
#define IP "192.168.60.106"
#define PORT 8000
int main(int argc, const char *argv[])
{
	//创建套接字
	int oldfd =socket(AF_INET,SOCK_STREAM,0);
	if(oldfd==-1)
	{
		perror("socket");
		return 1;
	}
	//填充地址信息结构体
	struct sockaddr_in cin;
	cin.sin_family =AF_INET;
	cin.sin_port =htons(PORT);
	cin.sin_addr.s_addr =inet_addr(IP);
	//连接服务器
	if(connect(oldfd,(struct sockaddr *)&cin,sizeof(cin))==-1)
	{
		perror("connect");
		return -1;
	}
	//定义机械臂结构体
	//红色机械臂
	char rbuf[5]={0xff,0x02,0x00,0xA6,0xff};
	//蓝色机械臂
	char bbuf[5]={0xff,0x02,0x01,0x00,0xff};

	//发送红色机械臂初始数据
	send(oldfd,rbuf,sizeof(rbuf),0);
	sleep(1);
	//发送蓝色机械臂初始数据
	send(oldfd,bbuf,sizeof(bbuf),0);
    printf("设置初始数据成功\n");

	char ch;
    while(1)
	{
		scanf("%c",&ch);//输入状态符
	   while(getchar()!='\n');//吸收回车

		switch(ch)
		{
		case 'W':
		case 'w':
			{
				rbuf[3]+=5;
				if(rbuf[3]>=90)
				{
					rbuf[3]=90;
				}
				send(oldfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case 'S':
		case 's':
			{
				rbuf[3]-=5;
				if(rbuf[3]<=-90)
				{
					rbuf[3]=-90;
				}
				send(oldfd,rbuf,sizeof(rbuf),0);
			}
			break;
		case 'A':
		case 'a':
			{
				bbuf[3]-=5;
				if(bbuf[3]<=0)
				{
					bbuf[3]=0;
				}
				send(oldfd,bbuf,sizeof(bbuf),0);
			}
			break;
		case 'D':
		case 'd':
			{
				bbuf[3]+=5;
				if(bbuf[3]>=180)
				{
					bbuf[3]=180;
				}
				send(oldfd,bbuf,sizeof(bbuf),0);
			}
			break;
        case 'Q':
		case 'q':
			goto END;
		}
	}

END:
	close(oldfd);
	return 0;
}