Test

arduino_robotic_arm.ino

@@ -0,0 +1,23 @@
+#include <Braccio.h>
+#include <Servo.h>
+#include <math.h>
+#include "math.hpp"
+
+Servo base;
+Servo shoulder;
+Servo elbow;
+Servo wrist_rot;
+Servo wrist_ver;
+Servo gripper;
+
+void setup() {
+  Serial.begin(9600);
+  Braccio.begin();
+}
+
+void loop() {
+  Vec4 targ = Vec4(0, 0, 0, 0);
+  Vec4 rot =  targ.to_rotation();
+  //                    speed     inverse knematics           wrist rot  grip
+  Braccio.ServoMovement(30,    rot.x, rot.y, rot.z, rot.w,     90,        70); 
+}