I need C program that acts as a controller for a 6-legged robot

I need a C program that acts as a controller for a 6-legged robot. It needs to connect via UART from a Raspberry to a Lynxmotion ssc 32u. Attached is my original Matlab program, but it contains more functions than I need in my C program. I do not need any GUI for the C program and also only the section "case 3 % Auto" and the necessary timer for the movement of the robot. This auto mode should then run in an infinite loop until the program is interrupted/terminated. It would be nice if a clean stop mechanism would be built in, when the program is aborted.
In summary:
- pogramming language C
- Connection from Raspberry to Lynxmotion via UART
- Automatic motion sequence, as seen in Matlab code "Case 3 Auto".
- On abort of the program clean termination of the serial connection