Make: Robotic Arms

60 Make: Robotic Arms

complete the calculations built into the programming language:

double x = 120.0;

double y = 120.0;

double linkOne = 100.0;

double linkTwo = 100.0;

double thetaOne;

double thetaTwo;

void setup() {

Serial.begin(9600);

}

void loop()

{

thetaOne = (atan(y/x) + acos(((linkTwo*linkTwo)

-((x*x)+(y*y))-(linkOne*linkOne)) /

(-2*(linkOne)

*(sqrt((x*x)+(y*y))))));

double thetaOneDeg = (thetaOne*(180/PI));

thetaTwo = (acos((((x*x)+(y*y))-(linkTwo*linkTwo)

-(linkOne*linkOne)) /

(-2*(linkOne)*(linkTwo))));

double thetaTwoDeg = (thetaTwo*(180/PI));

Serial.print("Theta One: ");

Serial.print(thetaOneDeg);

Serial.print(" Theta Two: ");

Serial.println ...