a_m - modified the actual length of each arm (measured in decimeters)- tried to add shift correction to compensate for pen holder
    - flipped the y-axis as a work-around because the points being plotted kept being out of the range of the arm
a_s - tweaked the animation function to only show a moving window of 4 points at a given time
i_m - modified the plotting algorithm so the first point isn't removed, this partially allows lines to be continuous. Will expand more on this later.
    - temporarily tweaked the algorithm to plot every point instead of just straight lines.
RA1 - added some ability to manually enter in desired angles for debug purposes