RobotIK/Robotarm.jl at main · Pixelators4014/RobotIK · GitHub

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using GLMakie

f = Figure()

sg = SliderGrid(f[2,1],
    (label = "L1", range = 0:.1:2, startvalue = 1.0),
    (label = "L2", range = 0:.1:2, startvalue = 1.0),
    (label = "L3", range = 0:.1:2, startvalue = 1.0),
    (label = "θ1", range = 0:.1:2π, startvalue = 0.0),
    (label = "θ2", range = 0:.1:2π, startvalue = 0.0),
    (label = "θ3", range = 0:.1:2π, startvalue = 0.0),
    (label = "θ4", range = 0:.1:2π, startvalue = π/2),
)

L1 = sg.sliders[1].value
L2 = sg.sliders[2].value
L3 = sg.sliders[3].value
θ1 = sg.sliders[4].value
θ2 = sg.sliders[5].value
θ3 = sg.sliders[6].value
θ4 = sg.sliders[7].value

P1 = @lift(Point2($L1*sin($θ2), $L1*cos($θ2)))
P2 = @lift($P1 + Point2($L2*sin($θ2+$θ3), $L2*cos($θ2+$θ3)))
P3 = @lift($P2 + Point2($L3*sin($θ2+$θ3+$θ4), $L3*cos($θ2+$θ3+$θ4)))

to3(p) = @lift(Point3($p[1]*sin($θ1), $p[1]*cos($θ1), $p[2]))

Axis3(f[1,1], limits=(-4,4,-4,4,-4,4))

lines!(@lift([Point3(0,0,0),$(to3(P1)),$(to3(P2)),$(to3(P3))]))