func main() {
flag.Parse()
log.Println("Opening ", *ttyData)
s, err := serial.OpenPort(&serial.Config{Name: *ttyData, Baud: *baudData})
if err != nil {
log.Fatal(err)
}
arm := staubli.NewStaubli(s)
if err := arm.MoveRel(*x, *y, *z); err != nil {
log.Fatal(" %s", err)
}
}
func initArm() {
origin.x, origin.y, origin.z = *originx, *originy, *originz
if *dummy {
arm = staubli.Dummy
} else {
log.Println("Opening ", *ttyData)
s, err := serial.OpenPort(&serial.Config{Name: *ttyData, Baud: *baudData})
if err != nil {
log.Fatal(err)
}
arm = staubli.NewStaubli(s)
}
if *sendvplus {
sendPg()
}
}