private void MoveAndRedraw(object sender, MouseEventArgs e) { var(X, Y) = ScreenToModel(e.X, e.Y); float Z = tZ; //float Z = X * (float)Math.Sin(tZ); //X = X * (float)Math.Cos(tZ); Console.WriteLine($"Target: ({X}, {Y}, {Z})"); a.MoveTo(X, Y, Z); var(AX, AY, AZ) = a.CalculatePosition(); Console.WriteLine($"Actual: ({AX}, {AY}, {AZ})"); Console.WriteLine($"Shoulder: ({a.CurrentRolls[0]}, {a.CurrentPitches[0]}, {a.CurrentYaws[0]})"); this.Invalidate(); }