Make: Robotic Arms

122 Make: Robotic Arms

#include "Servo.h"

Servo servoOne;

Servo servoTwo;

double x = 30.0;

double y = 120.0;

double linkOne = 100.0;

double linkTwo = 100.0;

double alphaOne;

double alphaTwo;

double alphaFinal;

double betaOne;

double betaTwo;

double betaFinal;

double c;

double d = 60.0;

double e;

const int circlePoints = 36;

double radius = 30.0;

double centerX = 40.0;

double centerY = 140.0;

void setup() {

Serial.begin(9600);

servoOne.attach(3);

servoTwo.attach(5);

}

void loop()

{

for (int i = 0; i < circlePoints; i++) {

double angle = (2 * PI / circlePoints) * i;

x = centerX + radius * cos(angle);

y = centerY + radius * sin(angle);

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