机械臂

use lager::LagerBox;

let lager = LagerBox::from_env()?;
let arm = lager.arm("arm1");

pub struct ArmPosition {
    pub x: f64,   // mm
    pub y: f64,   // mm
    pub z: f64,   // mm
}

let at = arm.move_to(50.0, 250.0, -20.0)?;
println!("arrived at ({:.1}, {:.1}, {:.1})", at.x, at.y, at.z);

use lager::LagerBox;

let lager = LagerBox::from_env()?;
let arm = lager.arm("arm1");
let led = lager.gpio("status_led");

arm.enable_motor()?;
arm.go_home()?;

// Approach above the button, press, retract.
arm.move_to(50.0, 250.0, 0.0)?;
arm.move_to(50.0, 250.0, -18.0)?;
std::thread::sleep(std::time::Duration::from_millis(200));
arm.move_to(50.0, 250.0, 0.0)?;

assert!(led.input()?.is_high(), "DUT did not register the press");
arm.go_home()?;