Make: Robotic Arms

79Chapter 4: More Links, More Precision

delay(10);

}

}

Once you have written, compiled, and uploaded the code, you should see

motor 1 move from 90 degrees to 180 and back again. Next, motor 2 should

move from 90 degrees to 0 and back, as shown in the images above (Figure

4-17

).

At this point, we can start to see how this new four-link robotic arm works.

Because both actuators are at the bottom of the robotic arm, and the other

joints in the system are passive joints, the position of the end effector,

which in this case is the connection point between the two sets of links, is

determined by the angle of both actuators working together. Because ...