right now kinematics.cpp is unreadable in terms of what it actually does. There are a lot of greek variable names, but no diagram or explination of what is what.
We have done a LOT of work to figure out the various sources of possible error and add calculations to the kinematics to allow us to account for them (even though we are still struggling to get a calibration routine that gets the right values). All the other v-plotter/bipod/calwhatever drawing robots just do the simple triangular calculations and either live with the errors, or don’t realize they are there.
a cleaned up and documented kinematics.cpp would be valuable to a lot of projects