Hi Everyone!
Just currently I realized, we can not use negatively rotated tray feeder. It makes the mistake of using the absolute value of the negative rotation, and ends up in the wrong, positively rotated place.
I believe, the arithmetics are the reason.
Cosine is always positive, and we really need to use the rotation matrix built of
cos(theta) -sin(theta)
sin(theta) cos(theta)
Any reason why we are using in the calculatePickLocation the Pithagoras square and sqrt things instead?
Martin