Make: Robotic Arms

112 Make: Robotic Arms

double linkTwo = 100.0;

double alphaOne;

double alphaTwo;

double alphaFinal;

double betaOne;

double betaTwo;

double betaFinal;

double c;

double d = 60.0;

double e;

int xval;

int yval;

void setup() {

Serial.begin(9600);

servoOne.attach(3);

servoTwo.attach(5);

}

void loop()

{

yval = analogRead(A0);

xval = analogRead(A1);

c = sqrt((x*x)+(y*y));

e = sqrt(((d-x)*(d-x))+(y*y));

alphaOne = atan(y/x) * (180/PI);

alphaTwo = acos(((linkTwo*linkTwo)-(c*c)-(linkOne*linkOne))

/(-2*linkOne*c)) * (180/PI);

betaOne = atan(y/(d-x)) * (180/PI);

betaTwo = acos(((linkTwo*linkTwo)-(e*e)-(linkOne*linkOne))

/(-2*linkOne*e)) * (180/PI);

if(x < 0){

alphaFinal ...