[Cuog]

I would like to add that under the readable code act of Yesterday 03:03 PM that variables and classes are easily identified, when looking at your code i dont know the difference between what x, y, z and asdet all mean give varibles meaning,

Also try to space code out if there is a block of code that is an algorithm(sp?) or accomplishes a particular purpose, double space above and below it(comments are great too) and single space inside the block that makes the outside readers life much easier

In addition when you are here for a problem try to give a timeline of what you have tried and how it has worked

ex: I changed this equation to calculate arm positition so that it should move right and now its even less accurate

Thanks,
Cuog