Joystick control of Phenoptix meArm with Inverse Kinematics

Using a Wii Classic controller to guide the gripper of a Phenoptix meArm small robotic arm through Cartesian space, with joystick movements controlling left, right, forwards, backwards, up and down in the (x,y,z) coordinates with the base at (0,0,0). Demonstrated here by Nick who wrote the mathematics for the library. The arm came from here: http://www.phenoptix.com/products/mearm-pocket-sized-robot-arm The connection for the Wii Classic gamepad is this: http://www.phenoptix.com/collections/breakout-board/products/wiichuck-a-wii-nunchuck-break-out-board-by-seeed-studio The library is here, and this sketch is in the examples: https://github.com/yorkhackspace/meArm