Make: Robotic Arms

161Chapter 8: Rotary Encoder Control

the other position variables for our other motors, is altered. One

of the strangest portions of the code is when the value of the

motor-selection variable has a value of 2. In this case, we need to

control both our link 2 motors, which work together. This means

we need one value to increase and one value to decrease in order

to have a result in which the link itself moves in one direction.

The rest of our void loop is dedicated to instructing our servo to

react to the changing position variables, printing the value of our

position variables, and managing the motor-selection variable,

much like as with our pr ...