It's been a while. I couldn't remember my password. But I'm still coding - in Yabasic.
I've wanted to figure this out for a long time.
joint=10
dim x(joint)
dim y(joint)
dim dir(joint)
dim arm(joint)
dim s(joint)
for a=1 to joint
dir(1)=20
dir(a)=0
arm(a)=25
next a
ang=pi/180
x=320
y=260
dim go(16)
dim G(16)
open window 640,512
repeat
setdrawbuf vm
vm=1-vm
setdispbuf vm
clear window
c=peek("port1")
if go(11)=1 then
for a=1 to joint
dir(a)=0
next a
sel=1
endif
for a=1 to 16
if and(c,2^(a-1))<>0 go(a)=1
if go(a)=1 G(a)=G(a)+1
if G(a)>2 G(a)=2
if G(a)=2 go(a)=0
if and(c,2^(a-1))=0 G(a)=0
next a
if go(8)=1 sel=sel-1
if go(6)=1 sel=sel+1
if sel<1 sel=1
if sel>joint sel=joint
for a=1 to joint
if sel=a then
if and(c,16)>0 dir(a)=dir(a)-.5
if and(c,64)>0 dir(a)=dir(a)+.5
endif
next a
dir(1)=dir(1)+m
if dir(1)<90 m=m+.05
if dir(1)>91 m=m-.05
if dir(1)<90 then
for a=2 to joint
dir(a)=dir(a)-.25
next a
endif
if dir(1)>91 then
for a=2 to joint
dir(a)=dir(a)+.25
next a
endif
for a=1 to joint
if sel=a then
setrgb 1,0,256,0
else
setrgb 1,256,256,256
endif
'text 20,a*20+100,str$(int(dir(a)))
next a
for a=1 to joint
s(a)=0
next a
d=0
for a=1 to joint
if dir(a)>359 dir(a)=0
if dir(a)<0 dir(a)=359
next a
setrgb 1,256,256,256
for a=1 to joint
d=d+dir(a)
x(a)=cos(d*ang)*arm(a)
y(a)=sin(d*ang)*arm(a)
s(1)=s(1)+x(a-1)
s(2)=s(2)+y(a-1)
s(3)=s(3)+x(a)
s(4)=s(4)+y(a)
if sel=a then
setrgb 1,0,256,0
else
setrgb 1,256,256,256
endif
line s(1)+x,s(2)+y to s(3)+x,s(4)+y
next a
until (1=0)
Most of the code can be used to manipulate each arm to create shapes.
