inverse_kinematics function

[lilibp]

Purpose:

The inverse_kinematics function uses trigonometry to figure out what the angles of the shoulder and elbow servo should be based on X,Y coordinates.

Inputs:

• X (int) Y (int): Coordinates

Outputs:

• [theta_1, theta_1] (tuple): Angles of shoulder and arm servo.

Notes:

Remember how trigonometry works :))

[lilibp]

Changes:

• We changed the names of the variables [theta_1, theta_1] to be [alpha_deg, beta_deg] to correspond to the diagram offered in Lab 8

Inquiries:

• Lab 8 says the length of the shoulder is 155mm, but Zitai previously told us it was 150mm. We will update the assigned values of length_shoulder and length_elbow accordingly.

(made by Amelie)