private void button1_Click(object sender, EventArgs e) { RobotArm arm = RobotArm.lynxmotionL6(); arm.links[1] = ArmLink.rotateY(arm.links[1], Math.PI / 4); arm.links[1] = ArmLink.rotateZ(arm.links[1], -Math.PI / 4); arm.links[3] = ArmLink.rotateY(arm.links[3], -Math.PI / 4); arm.links[2] = ArmLink.rotateY(arm.links[2], Math.PI / 4); double[][] effector = arm.linkPosition(4); double x = effector[0][0]; double y = effector[1][0]; double z = effector[2][0]; String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z); effectorPositionText.Text = str; Graphics g = panel1.CreateGraphics(); int panelx = panel1.Width; int panely = panel1.Height; arm.drawArm(panelx, panely, g); }