Page 60 - MDP2020-1

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ist[2] += dir[2];
ist[3] += dir[3];

servo_0.writeMicroseconds(ist[3]);

servo_1.writeMicroseconds(ist[2]);
servo_2.writeMicroseconds(ist[0]);
servo_3.writeMicroseconds(ist[1]);
}

else
{
Step = 1;
steps = 0;
}
}

void data_out()
{
int i = 0;

while(i < arrayMax)
{
digitalWrite(13, HIGH);
i += 1;
Serial.print(joint0[i]); Serial.print(", ");
}

Serial.println("Joint0");
i = 0;
while(i < arrayMax)
{
digitalWrite(13, HIGH);

i += 1;
Serial.print(joint1[i]); Serial.print(", ");
}
Serial.println("Joint1");
i = 0;

while(i < arrayMax)
{
digitalWrite(13, HIGH);
i += 1;
Serial.print(joint2[i]); Serial.print(", ");

}
Serial.println("Joint2");