While working on my IRTC entry I found a bug in the FindKnee macro.
The formula it used for finding the knee works fine when the angle
between the Knee-Hip vector and the Ankle-Hip vector meet at an
acute angle, but the formula delivers the incorrect result when the
angle is obtuse.  I changed it to a different formula, and now it
appears to work (ie, my new robot TC now walks properly).

The updated macro file can be found at:

  http://users.erols.com/vansickl/macs.htm

I also added two or three more macros of varying usefulness.

Regards,
John
-- 
ICQ: 46085459

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