[Leav]

Originally Posted by JBotAlan

How do you mean? I have changed our code to assign each joystick to different components of the drivetrain, but I don't understand your queston is entirely. Can you make a simple sketch of the arm so that I might understand it better?

i made a sketch, please note the attachment in my first post:
the blue and red lines are the arm parts.
at each end of the blue line is a motor which changes the angle of the blue and red parts.
the blue line starts at the robot.
the grabber part is situated at (x,y)

@ represents the angle of the blue arm in respect to the floor
$ represents the angle of the red arm in respect to the blue arm
@-$ epresents the angle of the red arm in respect to the floor

now that i think about it... i wasn't really clear at first....

see new attachment

Thanks,
-Leav