Make: Robotic Arms

7-27

7-28

141Chapter 7: 3D Robotic Arms

Once you have fully written, compiled, and uploaded

the code, you should see the base of your robotic

arm rotate from 0 to 90 degrees and then motors 2

and 3 rotate from 45 to 135 degrees (Figures

7-27

and

7-28

).

Next, we need to integrate motor 4, which should be

much simpler than the previous two motors, as only

one motor controls this joint:

#include <Servo.h>

Servo servoOne;

Servo servoTwo;

Servo servoThree;

Servo servoFour;

int pos;

void setup() {

servoOne.attach(3);

servoTwo.attach(5);

servoThree.attach(6);

servoFour.attach(9);

}

void loop() {

for (pos = 0; pos <= 90; pos++) {

servoOne.write(pos);

delay