I've added some content to the readme. Future content, I will look at taking some screenshots of the model and highlighting angles to give some context of the kinematic model.
Within the kinematic model, the diff merge looks horrendous, work actually done is added DEGTORAD and RADTODEG consts. The documentation actually says ""const" method is preferred of #define, will change existing #define's to consts if you wish ? Future work to get rid of other magic numbers and provide documentation images of where numbers come from.
Also changed some of the if...else to switch...case, easier to read and apparently now they compile down to smaller code, this wasn't always the case. I think further work can be done on this to tighten things up.
I've added some content to the readme. Future content, I will look at taking some screenshots of the model and highlighting angles to give some context of the kinematic model.
Within the kinematic model, the diff merge looks horrendous, work actually done is added DEGTORAD and RADTODEG consts. The documentation actually says ""const" method is preferred of #define, will change existing #define's to consts if you wish ? Future work to get rid of other magic numbers and provide documentation images of where numbers come from.
Also changed some of the if...else to switch...case, easier to read and apparently now they compile down to smaller code, this wasn't always the case. I think further work can be done on this to tighten things up.
I've also tidied up some of the comments.