Log 01 - 01

This is the first log. I am studying a few quadruped robot makers online publications. I found hackaday by following "tote quadruped"

I am struggling to translate the relevant kinematics equations into code format. For example, reading the sunfounder quadrupeds code explanation (available on their website in learning tutorials quadruped robot) I see that in their code they use division symbols where there should be multiplication.

I have made a little cardboard servo arm, with 2 servos to provide 2d motion of a hip and knee,, often labelled knee and ankle, as the hip servo provides the 3rd dimension of motion in many description. I probably like hipRotate and hipBend and kneeBend, or some variation. My cardboard model has hipBend and kneeBend. I have yet to succeed in creating a program that allows me to designate x,y coordinates for the foot, causing the foot to move to these coordinates. (I'm a beginner). My program causes the servos to max to one side, and continue to try to reach outside of their range of motion, regardless of the coordinates input, ,, I have tried declaring interger coordinates, as well as mapping coordinates from potentiometer input.

I would happily copy paste any code offers in order to study them, and see where I am errorous.