Yet I blather on about planning and thinking ahead on this blog all the time. In my defense, I was figuring it out as I went along, watching YouTube and reviewing basic trig functions. I was doing okay until I hit a wall at the third joint and realized that I was still trying to base my calculations on the first joint because my brain was so muddy I was just blindly copying code instead of thinking about it.
I took a nice long break then came back and sketched it out complete with names and arrows and reminders. My brain might be mush, but paper and pencil are eternal.
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