Make: Robotic Arms

113Chapter 6: Intermediate Inverse Kinematics

else if(x > d){

alphaFinal = ((alphaOne) + (alphaTwo));

betaFinal = -1 * ((betaOne) + (betaTwo));

}

else{

alphaFinal = ((alphaOne) + (alphaTwo));

betaFinal = 180 - ((betaOne) + (betaTwo));

}

Serial.print("alpha One: ");

Serial.print(alphaOne);

Serial.print(" beta One:");

Serial.print(betaOne);

Serial.print(" alpha Two: ");

Serial.print(alphaTwo);

Serial.print(" beta Two:");

Serial.print(betaTwo);

Serial.print(" Alpha: ");

Serial.print(alphaFinal);

Serial.print(" Beta: ");

Serial.println(betaFinal);

servoOne.write(alphaFinal);

servoTwo.write(betaFinal);

if(xval > 800){

x-=5;

}

if(xval < 300){

x+=5; ...