It can go on either the "software design" page or (better yet) the "control system design" page. Talk about the vector math and iteration used to get motor angles in enough detail that someone could follow.
We should do the same sort of thing with the motor selection page-- I've done some of this in the IPython notebook page, which already includes the LaTeX typesetting for most of the equations (you'll have to dig through the source .ipynb file to find them). You could use an online LaTeX typesetter to turn those equations into Jpegs, and put them in the writeup.
It can go on either the "software design" page or (better yet) the "control system design" page. Talk about the vector math and iteration used to get motor angles in enough detail that someone could follow.
We should do the same sort of thing with the motor selection page-- I've done some of this in the IPython notebook page, which already includes the LaTeX typesetting for most of the equations (you'll have to dig through the source .ipynb file to find them). You could use an online LaTeX typesetter to turn those equations into Jpegs, and put them in the writeup.