Make: Robotic Arms

180 Make: Robotic Arms

alphaOne = acos(d/c);

alphaTwo = acos((linkTwo*linkTwo + c*c -

linkThree*linkThree)/(2*linkTwo*c));

if(z > linkOne){

alphaFinal = (alphaOne+alphaTwo)*(180/PI);

}

else if(z < linkOne){

alphaFinal = (alphaOne-alphaTwo)*(180/PI);

}

servoOne.write(theta);

servoTwo.write(alphaFinal);

servoThree.write(180-alphaFinal);

servoFour.write(beta);

Serial.print("Theta: ");

Serial.print(theta);

Serial.print(" Alpha: ");

Serial.print(alphaFinal);

Serial.print(" Beta: ");

Serial.println(beta);

delay(3000);

}

}

The first portion of our code, all the way through our void setup, is exactly the

same as before. The biggest changes we have ...