Before I say anything else, I want to admit out loud that I used Gemini to help me understand this concept, teach me the ways of it, how to solve for the variables, etc. That was almost exactly 1 year ago, in summer 2025. I had the motivation to code for the forward kinematics but not the inverse kinematics. 12 months later, I asked Gemini the formulas for lots of variables, given inputs from the user and maybe some new ones to help out the process. This is just like asking AI to generate psuedocode just to calculate everything and fix bugs in this project. I promise that everything else is authentic and by me only. On a previous project, Shape, someone asked if I could use inverse kinematics on a project. I didn't know what that was, so I learned it and now I can make a calculator on 2 joints! Basically, what it means is this: You're given two lines with some length. You're given a starting point. For forward kinematics, you're also given the angles of the lines (so you know how they turn and stuff) and you use that info to find the endpoint. For inverse kinematics, you're given the endpoint and you must figure out the 2 ways you can arrange the lines so that both of them reach the endpoint. Then you find the angles. If you ever want an explanation on the math, search it up. I forgot how to explain it myself. (Forward and inverse kinematics is a college-level math/physics thing. Of course it can have more than 2 joints.)
