tried to work out the angles on the arm today but i've given up again for the time being..the IK code doesn't drive the arm out straight, so i cut and pasted the code to a new sketch but just to control each servo separately, to make sure the servos are working correctly. then i had a break to do some work on the deck,
ended up buying a ton of stuff from bunnings,.borrowed the drum sander from work to clean off the old paint, cleaned about 10 boards (which worked a treat), replaced 1 that was sticking up from the join in the runners underneath, which required chiselling out to level up. should look good when done. about of the short of my day today.