Make: Robotic Arms

61Chapter 3: Inverse Kinematics for 2D Movement

In our first step, in the section of code above our void setup, we need to

program all our necessary variables. Because we have integrated the steps

needed to calculate our theoretical c variable into our equations directly, we

need only four variables to get us started. Our first variable, x, represents the

value of the target of our end effector on the x-axis of our grid. The second

variable, y, represents our target goal on the y-axis. You can set both of these

variables to reach whatever goal locations on the board you might need.

Our next two variables, linkOne and linkTwo, have to do with the ...