Make: Robotic Arms

185Chapter 9: Inverse Kinematics for 3D Movement

Serial.print("Value Selector: ");

Serial.print(valueSelector);

Serial.print(" Theta: ");

Serial.print(theta);

Serial.print(" Alpha: ");

Serial.print(alphaFinal);

Serial.print(" Beta: ");

Serial.println(beta);

}

}

This latest version of our code may look longer than some of our other

examples, but all we have here is a combination of our rotary-encoder code

from the previous chapter and the three-DOF inverse-kinematics code

from the beginning of this chapter. The biggest difference here is that in our

previous rotary-encoder code, we used the encoder’s knob to increase and

decrease the angle of our ...