Make: Robotic Arms

62 Make: Robotic Arms

When we conducted the calculations mathematically, we calculated Ө

1

with a

value of 76.96 degrees and Ө

2

with a value of 116.1 degrees. Let’s upload our

new inverse-kinematics code and see what we get (Figure

3-14

).

If all goes as planned, on opening the Serial Monitor, you should see the

correct values being printed on the screen. With the multiple sets of brackets

and functions in our calculation code, don’t be alarmed if your values are

slightly different. It more than likely means you have a mismatched set of

brackets somewhere. Once your values match the values here, you’ve done

it—you now have your first set of code-based ...