The math only matches the rostock design. Changing the math for an other combination may be possible, but if this requires sin, cos it might be too slow.
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the code for calculating motor angles for a certain x,y,z position needs (for each motor):
6 substractions
9 additions
12 multiplications
4 divitions
1 sqrt
1 arctan
and 2 if's
Do you think that its possible to do without beeing to slow?
