Successfully transferred my inverse kinematics calculations from paper and Desmos to code (supposedly). All these days, and I hadn’t actually double checked my work or finished coding the IK. On one occasion, I had coded something of a framework, but later had it accidentally deleted when trying to connect the project to Github (because I’m an idiot :P). So today I focused on one of the robot’s legs––the bottom left––because the IK is different for each leg. By using Serial.print to compare the values in the code to the values in Desmos (based on an input x, y, z), I was able to fix the bugs in my equations, since the equations from Desmos slightly differed from the code. I also added a map function to convert the angles into PWM. It will be a while before I actually test this on the servos, because I need to find a way to recharge my batteries, but I’m excited to use this code! :)