%
% This program shows compound motion of the robotic arm
% Link-1 and Link-2 are simultaneously rotating.
% Just for example Link-2 is rotating faster than Link-1
%

close all; clear; clc;

global debugLevel_01;
       debugLevel_01 = 1;

% Initialize values
L1 = 110.0; % Link Length in mm
L2 = 140.0; % Link Length in mm

initalizeArmCoordinates;
printArmCoordinates;

hf = figure('color','white');
% maximize(hf);

axis equal
SUM_L1_L2 = L1 + L2;

maximum_x_limit =   ceil(SUM_L1_L2/100)*100;
maximum_y_limit =   ceil(SUM_L1_L2/100)*100;
minimum_x_limit = - ceil(SUM_L1_L2/100)*100;
minimum_y_limit = - ceil(SUM_L1_L2/100)*100;

xlim([minimum_x_limit maximum_x_limit])
ylim([minimum_y_limit maximum_y_limit])

set(gca,'XTick',minimum_x_limit : 100 : maximum_x_limit);
set(gca,'YTick',minimum_y_limit : 100 : maximum_y_limit);

grid on
set(gca, 'GridLineStyle', '-');
grid(gca,'minor')

title('Robotic Arm: Compound Motion','Color',[0 0 1])

hold on
% Plot the robot arm before rotation
 ht(1) = plot(lx(1:2), ly(1:2), 'color', [.4 .4 .8],'LineWidth',3);
 ht(2) = plot(lx(2:3), ly(2:3), 'color', [.8 .4 .8],'LineWidth',3);
 ht(3) = plot(lx(1),ly(1),'--mo', 'MarkerEdgeColor','k', 'MarkerFaceColor',[.49 1 .63], 'MarkerSize',6);
 ht(4) = plot(lx(2),ly(2),'--mo', 'MarkerEdgeColor','k', 'MarkerFaceColor',[.99 1 .63], 'MarkerSize',6);
 ht(5) = plot(lx(3),ly(3),'--mo', 'MarkerEdgeColor','k', 'MarkerFaceColor',[.49 0 .63], 'MarkerSize',6);

 pause on;
% Animate: Both the motors are Electricaly-Powered and both are rotating
%          on their own axis
alpha = 1;
beta  = 10;
for frame_no = 1:180

    [ successFlag, lx, ly ] = rotate_motor_logically( 1,  alpha, lx, ly, debugLevel_01);
    [ successFlag, lx, ly ] = rotate_motor_logically( 2,  beta,  lx, ly, debugLevel_01);
    set(ht(1),'XData',lx(1:2));    set(ht(1),'YData',ly(1:2));
    set(ht(2),'XData',lx(2:3));    set(ht(2),'YData',ly(2:3));
    set(ht(3),'XData',lx(1));      set(ht(3),'YData',ly(1));
    set(ht(4),'XData',lx(2));      set(ht(4),'YData',ly(2));
    set(ht(5),'XData',lx(3));      set(ht(5),'YData',ly(3));
    % The following lines were used to generate frames for gif animation:
    %         if mod(frame_no,5)==1
    %             saveas(gcf, sprintf('seq_%03d.png', frame_no) );
    %         end
    drawnow;
    pause (0.1); %
end
saveas(gcf,'output.jpg')
% NOTE: The second motor is moving faster than the first motor in this
% animation.

 lx[1] = 0.00      lx[2] = 110.00    lx[3] = 110.00 
 ly[1] = 0.00      ly[2] = 0.00      ly[3] = 140.00 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 110.00    lx[3] = 110.00 
	DEBUG:  ly[1] = 0.00      ly[2] = 0.00      ly[3] = 140.00 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.98   nlx[3] = 112.43 
	DEBUG: nly[1] = 0.00     nly[2] = -1.92    nly[3] = 138.06 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.98    lx[3] = 112.43 
	DEBUG:  ly[1] = 0.00      ly[2] = -1.92     ly[3] = 138.06 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.98   nlx[3] = 136.70 
	DEBUG: nly[1] = 0.00     nly[2] = -1.92    nly[3] = 135.51 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.98    lx[3] = 136.70 
	DEBUG:  ly[1] = 0.00      ly[2] = -1.92     ly[3] = 135.51 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.93   nlx[3] = 139.04 
	DEBUG: nly[1] = 0.00     nly[2] = -3.84    nly[3] = 133.10 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.93    lx[3] = 139.04 
	DEBUG:  ly[1] = 0.00      ly[2] = -3.84     ly[3] = 133.10 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.93   nlx[3] = 162.38 
	DEBUG: nly[1] = 0.00     nly[2] = -3.84    nly[3] = 125.97 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.93    lx[3] = 162.38 
	DEBUG:  ly[1] = 0.00      ly[2] = -3.84     ly[3] = 125.97 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.85   nlx[3] = 164.55 
	DEBUG: nly[1] = 0.00     nly[2] = -5.76    nly[3] = 123.11 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.85    lx[3] = 164.55 
	DEBUG:  ly[1] = 0.00      ly[2] = -5.76     ly[3] = 123.11 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.85   nlx[3] = 186.10 
	DEBUG: nly[1] = 0.00     nly[2] = -5.76    nly[3] = 111.66 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.85    lx[3] = 186.10 
	DEBUG:  ly[1] = 0.00      ly[2] = -5.76     ly[3] = 111.66 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.73   nlx[3] = 188.02 
	DEBUG: nly[1] = 0.00     nly[2] = -7.67    nly[3] = 108.39 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.73    lx[3] = 188.02 
	DEBUG:  ly[1] = 0.00      ly[2] = -7.67     ly[3] = 108.39 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.73   nlx[3] = 206.98 
	DEBUG: nly[1] = 0.00     nly[2] = -7.67    nly[3] = 93.03  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.73    lx[3] = 206.98 
	DEBUG:  ly[1] = 0.00      ly[2] = -7.67     ly[3] = 93.03  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.58   nlx[3] = 208.58 
	DEBUG: nly[1] = 0.00     nly[2] = -9.59    nly[3] = 89.41  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.58    lx[3] = 208.58 
	DEBUG:  ly[1] = 0.00      ly[2] = -9.59     ly[3] = 89.41  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.58   nlx[3] = 224.26 
	DEBUG: nly[1] = 0.00     nly[2] = -9.59    nly[3] = 70.71  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.58    lx[3] = 224.26 
	DEBUG:  ly[1] = 0.00      ly[2] = -9.59     ly[3] = 70.71  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.40   nlx[3] = 225.46 
	DEBUG: nly[1] = 0.00     nly[2] = -11.50   nly[3] = 66.79  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.40    lx[3] = 225.46 
	DEBUG:  ly[1] = 0.00      ly[2] = -11.50    ly[3] = 66.79  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.40   nlx[3] = 237.29 
	DEBUG: nly[1] = 0.00     nly[2] = -11.50   nly[3] = 45.44  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.40    lx[3] = 237.29 
	DEBUG:  ly[1] = 0.00      ly[2] = -11.50    ly[3] = 45.44  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.18   nlx[3] = 238.05 
	DEBUG: nly[1] = 0.00     nly[2] = -13.41   nly[3] = 41.30  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 109.18    lx[3] = 238.05 
	DEBUG:  ly[1] = 0.00      ly[2] = -13.41    ly[3] = 41.30  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 109.18   nlx[3] = 245.59 
	DEBUG: nly[1] = 0.00     nly[2] = -13.41   nly[3] = 18.09  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 109.18    lx[3] = 245.59 
	DEBUG:  ly[1] = 0.00      ly[2] = -13.41    ly[3] = 18.09  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.93   nlx[3] = 245.87 
	DEBUG: nly[1] = 0.00     nly[2] = -15.31   nly[3] = 13.80  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 108.93    lx[3] = 245.87 
	DEBUG:  ly[1] = 0.00      ly[2] = -15.31    ly[3] = 13.80  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.93   nlx[3] = 248.84 
	DEBUG: nly[1] = 0.00     nly[2] = -15.31   nly[3] = -10.42 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 108.93    lx[3] = 248.84 
	DEBUG:  ly[1] = 0.00      ly[2] = -15.31    ly[3] = -10.42 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.65   nlx[3] = 248.62 
	DEBUG: nly[1] = 0.00     nly[2] = -17.21   nly[3] = -14.76 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 108.65    lx[3] = 248.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -17.21    ly[3] = -14.76 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.65   nlx[3] = 246.92 
	DEBUG: nly[1] = 0.00     nly[2] = -17.21   nly[3] = -39.11 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 108.65    lx[3] = 246.92 
	DEBUG:  ly[1] = 0.00      ly[2] = -17.21    ly[3] = -39.11 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.33   nlx[3] = 246.20 
	DEBUG: nly[1] = 0.00     nly[2] = -19.10   nly[3] = -43.41 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 108.33    lx[3] = 246.20 
	DEBUG:  ly[1] = 0.00      ly[2] = -19.10    ly[3] = -43.41 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 108.33   nlx[3] = 239.89 
	DEBUG: nly[1] = 0.00     nly[2] = -19.10   nly[3] = -66.98 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 108.33    lx[3] = 239.89 
	DEBUG:  ly[1] = 0.00      ly[2] = -19.10    ly[3] = -66.98 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.98   nlx[3] = 238.68 
	DEBUG: nly[1] = 0.00     nly[2] = -20.99   nly[3] = -71.16 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 107.98    lx[3] = 238.68 
	DEBUG:  ly[1] = 0.00      ly[2] = -20.99    ly[3] = -71.16 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.98   nlx[3] = 227.98 
	DEBUG: nly[1] = 0.00     nly[2] = -20.99   nly[3] = -93.09 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 107.98    lx[3] = 227.98 
	DEBUG:  ly[1] = 0.00      ly[2] = -20.99    ly[3] = -93.09 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.60   nlx[3] = 226.32 
	DEBUG: nly[1] = 0.00     nly[2] = -22.87   nly[3] = -97.06 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 107.60    lx[3] = 226.32 
	DEBUG:  ly[1] = 0.00      ly[2] = -22.87    ly[3] = -97.06 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.60   nlx[3] = 211.64 
	DEBUG: nly[1] = 0.00     nly[2] = -22.87   nly[3] = -116.55

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 107.60    lx[3] = 211.64 
	DEBUG:  ly[1] = 0.00      ly[2] = -22.87    ly[3] = -116.55

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.18   nlx[3] = 209.57 
	DEBUG: nly[1] = 0.00     nly[2] = -24.74   nly[3] = -120.22

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 107.18    lx[3] = 209.57 
	DEBUG:  ly[1] = 0.00      ly[2] = -24.74    ly[3] = -120.22

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 107.18   nlx[3] = 191.43 
	DEBUG: nly[1] = 0.00     nly[2] = -24.74   nly[3] = -136.55

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 107.18    lx[3] = 191.43 
	DEBUG:  ly[1] = 0.00      ly[2] = -24.74    ly[3] = -136.55

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 106.73   nlx[3] = 189.02 
	DEBUG: nly[1] = 0.00     nly[2] = -26.61   nly[3] = -139.87

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 106.73    lx[3] = 189.02 
	DEBUG:  ly[1] = 0.00      ly[2] = -26.61    ly[3] = -139.87

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 106.73   nlx[3] = 168.10 
	DEBUG: nly[1] = 0.00     nly[2] = -26.61   nly[3] = -152.44

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 106.73    lx[3] = 168.10 
	DEBUG:  ly[1] = 0.00      ly[2] = -26.61    ly[3] = -152.44

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 106.25   nlx[3] = 165.42 
	DEBUG: nly[1] = 0.00     nly[2] = -28.47   nly[3] = -155.35

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 106.25    lx[3] = 165.42 
	DEBUG:  ly[1] = 0.00      ly[2] = -28.47    ly[3] = -155.35

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 106.25   nlx[3] = 142.49 
	DEBUG: nly[1] = 0.00     nly[2] = -28.47   nly[3] = -163.70

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 106.25    lx[3] = 142.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -28.47    ly[3] = -163.70

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 105.74   nlx[3] = 139.61 
	DEBUG: nly[1] = 0.00     nly[2] = -30.32   nly[3] = -166.16

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 105.74    lx[3] = 139.61 
	DEBUG:  ly[1] = 0.00      ly[2] = -30.32    ly[3] = -166.16

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 105.74   nlx[3] = 115.50 
	DEBUG: nly[1] = 0.00     nly[2] = -30.32   nly[3] = -169.98

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 105.74    lx[3] = 115.50 
	DEBUG:  ly[1] = 0.00      ly[2] = -30.32    ly[3] = -169.98

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 105.19   nlx[3] = 112.52 
	DEBUG: nly[1] = 0.00     nly[2] = -32.16   nly[3] = -171.97

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 105.19    lx[3] = 112.52 
	DEBUG:  ly[1] = 0.00      ly[2] = -32.16    ly[3] = -171.97

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 105.19   nlx[3] = 88.13  
	DEBUG: nly[1] = 0.00     nly[2] = -32.16   nly[3] = -171.12

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 105.19    lx[3] = 88.13  
	DEBUG:  ly[1] = 0.00      ly[2] = -32.16    ly[3] = -171.12

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 104.62   nlx[3] = 85.13  
	DEBUG: nly[1] = 0.00     nly[2] = -33.99   nly[3] = -172.63

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 104.62    lx[3] = 85.13  
	DEBUG:  ly[1] = 0.00      ly[2] = -33.99    ly[3] = -172.63

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 104.62   nlx[3] = 61.35  
	DEBUG: nly[1] = 0.00     nly[2] = -33.99   nly[3] = -167.14

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 104.62    lx[3] = 61.35  
	DEBUG:  ly[1] = 0.00      ly[2] = -33.99    ly[3] = -167.14

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 104.01   nlx[3] = 58.43  
	DEBUG: nly[1] = 0.00     nly[2] = -35.81   nly[3] = -168.19

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 104.01    lx[3] = 58.43  
	DEBUG:  ly[1] = 0.00      ly[2] = -35.81    ly[3] = -168.19

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 104.01   nlx[3] = 36.13  
	DEBUG: nly[1] = 0.00     nly[2] = -35.81   nly[3] = -158.26

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 104.01    lx[3] = 36.13  
	DEBUG:  ly[1] = 0.00      ly[2] = -35.81    ly[3] = -158.26

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 103.37   nlx[3] = 33.37  
	DEBUG: nly[1] = 0.00     nly[2] = -37.62   nly[3] = -158.87

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 103.37    lx[3] = 33.37  
	DEBUG:  ly[1] = 0.00      ly[2] = -37.62    ly[3] = -158.87

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 103.37   nlx[3] = 13.38  
	DEBUG: nly[1] = 0.00     nly[2] = -37.62   nly[3] = -144.87

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 103.37    lx[3] = 13.38  
	DEBUG:  ly[1] = 0.00      ly[2] = -37.62    ly[3] = -144.87

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 102.69   nlx[3] = 10.85  
	DEBUG: nly[1] = 0.00     nly[2] = -39.42   nly[3] = -145.08

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 102.69    lx[3] = 10.85  
	DEBUG:  ly[1] = 0.00      ly[2] = -39.42    ly[3] = -145.08

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 102.69   nlx[3] = -6.11  
	DEBUG: nly[1] = 0.00     nly[2] = -39.42   nly[3] = -127.53

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 102.69    lx[3] = -6.11  
	DEBUG:  ly[1] = 0.00      ly[2] = -39.42    ly[3] = -127.53

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 101.99   nlx[3] = -8.33  
	DEBUG: nly[1] = 0.00     nly[2] = -41.21   nly[3] = -127.40

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 101.99    lx[3] = -8.33  
	DEBUG:  ly[1] = 0.00      ly[2] = -41.21    ly[3] = -127.40

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 101.99   nlx[3] = -21.62 
	DEBUG: nly[1] = 0.00     nly[2] = -41.21   nly[3] = -106.93

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 101.99    lx[3] = -21.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -41.21    ly[3] = -106.93

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 101.26   nlx[3] = -23.49 
	DEBUG: nly[1] = 0.00     nly[2] = -42.98   nly[3] = -106.54

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 101.26    lx[3] = -23.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -42.98    ly[3] = -106.54

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 101.26   nlx[3] = -32.63 
	DEBUG: nly[1] = 0.00     nly[2] = -42.98   nly[3] = -83.91 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 101.26    lx[3] = -32.63 
	DEBUG:  ly[1] = 0.00      ly[2] = -42.98    ly[3] = -83.91 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 100.49   nlx[3] = -34.09 
	DEBUG: nly[1] = 0.00     nly[2] = -44.74   nly[3] = -83.33 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 100.49    lx[3] = -34.09 
	DEBUG:  ly[1] = 0.00      ly[2] = -44.74    ly[3] = -83.33 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 100.49   nlx[3] = -38.74 
	DEBUG: nly[1] = 0.00     nly[2] = -44.74   nly[3] = -59.38 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 100.49    lx[3] = -38.74 
	DEBUG:  ly[1] = 0.00      ly[2] = -44.74    ly[3] = -59.38 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 99.69    nlx[3] = -39.77 
	DEBUG: nly[1] = 0.00     nly[2] = -46.49   nly[3] = -58.69 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 99.69     lx[3] = -39.77 
	DEBUG:  ly[1] = 0.00      ly[2] = -46.49    ly[3] = -58.69 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 99.69    nlx[3] = -39.77 
	DEBUG: nly[1] = 0.00     nly[2] = -46.49   nly[3] = -34.29 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 99.69     lx[3] = -39.77 
	DEBUG:  ly[1] = 0.00      ly[2] = -46.49    ly[3] = -34.29 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 98.87    nlx[3] = -40.37 
	DEBUG: nly[1] = 0.00     nly[2] = -48.22   nly[3] = -33.59 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 98.87     lx[3] = -40.37 
	DEBUG:  ly[1] = 0.00      ly[2] = -48.22    ly[3] = -33.59 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 98.87    nlx[3] = -35.71 
	DEBUG: nly[1] = 0.00     nly[2] = -48.22   nly[3] = -9.63  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 98.87     lx[3] = -35.71 
	DEBUG:  ly[1] = 0.00      ly[2] = -48.22    ly[3] = -9.63  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 98.01    nlx[3] = -35.87 
	DEBUG: nly[1] = 0.00     nly[2] = -49.94   nly[3] = -9.01  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 98.01     lx[3] = -35.87 
	DEBUG:  ly[1] = 0.00      ly[2] = -49.94    ly[3] = -9.01  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 98.01    nlx[3] = -26.73 
	DEBUG: nly[1] = 0.00     nly[2] = -49.94   nly[3] = 13.62  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 98.01     lx[3] = -26.73 
	DEBUG:  ly[1] = 0.00      ly[2] = -49.94    ly[3] = 13.62  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 97.12    nlx[3] = -26.49 
	DEBUG: nly[1] = 0.00     nly[2] = -51.64   nly[3] = 14.08  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 97.12     lx[3] = -26.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -51.64    ly[3] = 14.08  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 97.12    nlx[3] = -13.20 
	DEBUG: nly[1] = 0.00     nly[2] = -51.64   nly[3] = 34.55  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 97.12     lx[3] = -13.20 
	DEBUG:  ly[1] = 0.00      ly[2] = -51.64    ly[3] = 34.55  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 96.21    nlx[3] = -12.59 
	DEBUG: nly[1] = 0.00     nly[2] = -53.33   nly[3] = 34.78  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 96.21     lx[3] = -12.59 
	DEBUG:  ly[1] = 0.00      ly[2] = -53.33    ly[3] = 34.78  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 96.21    nlx[3] = 4.36   
	DEBUG: nly[1] = 0.00     nly[2] = -53.33   nly[3] = 52.33  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 96.21     lx[3] = 4.36   
	DEBUG:  ly[1] = 0.00      ly[2] = -53.33    ly[3] = 52.33  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 95.26    nlx[3] = 5.27   
	DEBUG: nly[1] = 0.00     nly[2] = -55.00   nly[3] = 52.25  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 95.26     lx[3] = 5.27   
	DEBUG:  ly[1] = 0.00      ly[2] = -55.00    ly[3] = 52.25  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 95.26    nlx[3] = 25.26  
	DEBUG: nly[1] = 0.00     nly[2] = -55.00   nly[3] = 66.24  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 95.26     lx[3] = 25.26  
	DEBUG:  ly[1] = 0.00      ly[2] = -55.00    ly[3] = 66.24  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 94.29    nlx[3] = 26.42  
	DEBUG: nly[1] = 0.00     nly[2] = -56.65   nly[3] = 65.79  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 94.29     lx[3] = 26.42  
	DEBUG:  ly[1] = 0.00      ly[2] = -56.65    ly[3] = 65.79  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 94.29    nlx[3] = 48.71  
	DEBUG: nly[1] = 0.00     nly[2] = -56.65   nly[3] = 75.72  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 94.29     lx[3] = 48.71  
	DEBUG:  ly[1] = 0.00      ly[2] = -56.65    ly[3] = 75.72  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 93.29    nlx[3] = 50.02  
	DEBUG: nly[1] = 0.00     nly[2] = -58.29   nly[3] = 74.86  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 93.29     lx[3] = 50.02  
	DEBUG:  ly[1] = 0.00      ly[2] = -58.29    ly[3] = 74.86  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 93.29    nlx[3] = 73.80  
	DEBUG: nly[1] = 0.00     nly[2] = -58.29   nly[3] = 80.35  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 93.29     lx[3] = 73.80  
	DEBUG:  ly[1] = 0.00      ly[2] = -58.29    ly[3] = 80.35  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 92.25    nlx[3] = 75.19  
	DEBUG: nly[1] = 0.00     nly[2] = -59.91   nly[3] = 79.05  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 92.25     lx[3] = 75.19  
	DEBUG:  ly[1] = 0.00      ly[2] = -59.91    ly[3] = 79.05  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 92.25    nlx[3] = 99.58  
	DEBUG: nly[1] = 0.00     nly[2] = -59.91   nly[3] = 79.90  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 92.25     lx[3] = 99.58  
	DEBUG:  ly[1] = 0.00      ly[2] = -59.91    ly[3] = 79.90  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 91.19    nlx[3] = 100.96 
	DEBUG: nly[1] = 0.00     nly[2] = -61.51   nly[3] = 78.15  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 91.19     lx[3] = 100.96 
	DEBUG:  ly[1] = 0.00      ly[2] = -61.51    ly[3] = 78.15  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 91.19    nlx[3] = 125.06 
	DEBUG: nly[1] = 0.00     nly[2] = -61.51   nly[3] = 74.33  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 91.19     lx[3] = 125.06 
	DEBUG:  ly[1] = 0.00      ly[2] = -61.51    ly[3] = 74.33  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 90.11    nlx[3] = 126.34 
	DEBUG: nly[1] = 0.00     nly[2] = -63.09   nly[3] = 72.14  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 90.11     lx[3] = 126.34 
	DEBUG:  ly[1] = 0.00      ly[2] = -63.09    ly[3] = 72.14  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 90.11    nlx[3] = 149.27 
	DEBUG: nly[1] = 0.00     nly[2] = -63.09   nly[3] = 63.79  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 90.11     lx[3] = 149.27 
	DEBUG:  ly[1] = 0.00      ly[2] = -63.09    ly[3] = 63.79  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 88.99    nlx[3] = 150.36 
	DEBUG: nly[1] = 0.00     nly[2] = -64.66   nly[3] = 61.17  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 88.99     lx[3] = 150.36 
	DEBUG:  ly[1] = 0.00      ly[2] = -64.66    ly[3] = 61.17  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 88.99    nlx[3] = 171.28 
	DEBUG: nly[1] = 0.00     nly[2] = -64.66   nly[3] = 48.61  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 88.99     lx[3] = 171.28 
	DEBUG:  ly[1] = 0.00      ly[2] = -64.66    ly[3] = 48.61  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 87.85    nlx[3] = 172.10 
	DEBUG: nly[1] = 0.00     nly[2] = -66.20   nly[3] = 45.61  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 87.85     lx[3] = 172.10 
	DEBUG:  ly[1] = 0.00      ly[2] = -66.20    ly[3] = 45.61  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 87.85    nlx[3] = 190.24 
	DEBUG: nly[1] = 0.00     nly[2] = -66.20   nly[3] = 29.28  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 87.85     lx[3] = 190.24 
	DEBUG:  ly[1] = 0.00      ly[2] = -66.20    ly[3] = 29.28  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 86.68    nlx[3] = 190.72 
	DEBUG: nly[1] = 0.00     nly[2] = -67.72   nly[3] = 25.96  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 86.68     lx[3] = 190.72 
	DEBUG:  ly[1] = 0.00      ly[2] = -67.72    ly[3] = 25.96  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 86.68    nlx[3] = 205.41 
	DEBUG: nly[1] = 0.00     nly[2] = -67.72   nly[3] = 6.47   

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 86.68     lx[3] = 205.41 
	DEBUG:  ly[1] = 0.00      ly[2] = -67.72    ly[3] = 6.47   

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 85.49    nlx[3] = 205.49 
	DEBUG: nly[1] = 0.00     nly[2] = -69.23   nly[3] = 2.88   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 85.49     lx[3] = 205.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -69.23    ly[3] = 2.88   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 85.49    nlx[3] = 216.19 
	DEBUG: nly[1] = 0.00     nly[2] = -69.23   nly[3] = -19.05 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 85.49     lx[3] = 216.19 
	DEBUG:  ly[1] = 0.00      ly[2] = -69.23    ly[3] = -19.05 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 84.26    nlx[3] = 215.82 
	DEBUG: nly[1] = 0.00     nly[2] = -70.71   nly[3] = -22.82 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 84.26     lx[3] = 215.82 
	DEBUG:  ly[1] = 0.00      ly[2] = -70.71    ly[3] = -22.82 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 84.26    nlx[3] = 222.14 
	DEBUG: nly[1] = 0.00     nly[2] = -70.71   nly[3] = -46.40 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 84.26     lx[3] = 222.14 
	DEBUG:  ly[1] = 0.00      ly[2] = -70.71    ly[3] = -46.40 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 83.02    nlx[3] = 221.29 
	DEBUG: nly[1] = 0.00     nly[2] = -72.17   nly[3] = -50.27 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 83.02     lx[3] = 221.29 
	DEBUG:  ly[1] = 0.00      ly[2] = -72.17    ly[3] = -50.27 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 83.02    nlx[3] = 223.00 
	DEBUG: nly[1] = 0.00     nly[2] = -72.17   nly[3] = -74.61 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 83.02     lx[3] = 223.00 
	DEBUG:  ly[1] = 0.00      ly[2] = -72.17    ly[3] = -74.61 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 81.75    nlx[3] = 221.66 
	DEBUG: nly[1] = 0.00     nly[2] = -73.60   nly[3] = -78.49 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 81.75     lx[3] = 221.66 
	DEBUG:  ly[1] = 0.00      ly[2] = -73.60    ly[3] = -78.49 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 81.75    nlx[3] = 218.69 
	DEBUG: nly[1] = 0.00     nly[2] = -73.60   nly[3] = -102.71

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 81.75     lx[3] = 218.69 
	DEBUG:  ly[1] = 0.00      ly[2] = -73.60    ly[3] = -102.71

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 80.45    nlx[3] = 216.86 
	DEBUG: nly[1] = 0.00     nly[2] = -75.02   nly[3] = -106.51

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 80.45     lx[3] = 216.86 
	DEBUG:  ly[1] = 0.00      ly[2] = -75.02    ly[3] = -106.51

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 80.45    nlx[3] = 209.32 
	DEBUG: nly[1] = 0.00     nly[2] = -75.02   nly[3] = -129.72

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 80.45     lx[3] = 209.32 
	DEBUG:  ly[1] = 0.00      ly[2] = -75.02    ly[3] = -129.72

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 79.13    nlx[3] = 207.02 
	DEBUG: nly[1] = 0.00     nly[2] = -76.41   nly[3] = -133.36

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 79.13     lx[3] = 207.02 
	DEBUG:  ly[1] = 0.00      ly[2] = -76.41    ly[3] = -133.36

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 79.13    nlx[3] = 195.19 
	DEBUG: nly[1] = 0.00     nly[2] = -76.41   nly[3] = -154.70

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 79.13     lx[3] = 195.19 
	DEBUG:  ly[1] = 0.00      ly[2] = -76.41    ly[3] = -154.70

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 77.78    nlx[3] = 192.46 
	DEBUG: nly[1] = 0.00     nly[2] = -77.78   nly[3] = -158.08

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 77.78     lx[3] = 192.46 
	DEBUG:  ly[1] = 0.00      ly[2] = -77.78    ly[3] = -158.08

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 77.78    nlx[3] = 176.78 
	DEBUG: nly[1] = 0.00     nly[2] = -77.78   nly[3] = -176.78

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 77.78     lx[3] = 176.78 
	DEBUG:  ly[1] = 0.00      ly[2] = -77.78    ly[3] = -176.78

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 76.41    nlx[3] = 173.66 
	DEBUG: nly[1] = 0.00     nly[2] = -79.13   nly[3] = -179.83

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 76.41     lx[3] = 173.66 
	DEBUG:  ly[1] = 0.00      ly[2] = -79.13    ly[3] = -179.83

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 76.41    nlx[3] = 154.70 
	DEBUG: nly[1] = 0.00     nly[2] = -79.13   nly[3] = -195.19

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 76.41     lx[3] = 154.70 
	DEBUG:  ly[1] = 0.00      ly[2] = -79.13    ly[3] = -195.19

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 75.02    nlx[3] = 151.27 
	DEBUG: nly[1] = 0.00     nly[2] = -80.45   nly[3] = -197.86

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 75.02     lx[3] = 151.27 
	DEBUG:  ly[1] = 0.00      ly[2] = -80.45    ly[3] = -197.86

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 75.02    nlx[3] = 129.72 
	DEBUG: nly[1] = 0.00     nly[2] = -80.45   nly[3] = -209.32

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 75.02     lx[3] = 129.72 
	DEBUG:  ly[1] = 0.00      ly[2] = -80.45    ly[3] = -209.32

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 73.60    nlx[3] = 126.05 
	DEBUG: nly[1] = 0.00     nly[2] = -81.75   nly[3] = -211.55

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 73.60     lx[3] = 126.05 
	DEBUG:  ly[1] = 0.00      ly[2] = -81.75    ly[3] = -211.55

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 73.60    nlx[3] = 102.71 
	DEBUG: nly[1] = 0.00     nly[2] = -81.75   nly[3] = -218.69

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 73.60     lx[3] = 102.71 
	DEBUG:  ly[1] = 0.00      ly[2] = -81.75    ly[3] = -218.69

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 72.17    nlx[3] = 98.88  
	DEBUG: nly[1] = 0.00     nly[2] = -83.02   nly[3] = -220.45

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 72.17     lx[3] = 98.88  
	DEBUG:  ly[1] = 0.00      ly[2] = -83.02    ly[3] = -220.45

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 72.17    nlx[3] = 74.61  
	DEBUG: nly[1] = 0.00     nly[2] = -83.02   nly[3] = -223.00

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 72.17     lx[3] = 74.61  
	DEBUG:  ly[1] = 0.00      ly[2] = -83.02    ly[3] = -223.00

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 70.71    nlx[3] = 70.71  
	DEBUG: nly[1] = 0.00     nly[2] = -84.26   nly[3] = -224.26

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 70.71     lx[3] = 70.71  
	DEBUG:  ly[1] = 0.00      ly[2] = -84.26    ly[3] = -224.26

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 70.71    nlx[3] = 46.40  
	DEBUG: nly[1] = 0.00     nly[2] = -84.26   nly[3] = -222.14

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 70.71     lx[3] = 46.40  
	DEBUG:  ly[1] = 0.00      ly[2] = -84.26    ly[3] = -222.14

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 69.23    nlx[3] = 42.51  
	DEBUG: nly[1] = 0.00     nly[2] = -85.49   nly[3] = -222.91

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 69.23     lx[3] = 42.51  
	DEBUG:  ly[1] = 0.00      ly[2] = -85.49    ly[3] = -222.91

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 69.23    nlx[3] = 19.05  
	DEBUG: nly[1] = 0.00     nly[2] = -85.49   nly[3] = -216.19

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 69.23     lx[3] = 19.05  
	DEBUG:  ly[1] = 0.00      ly[2] = -85.49    ly[3] = -216.19

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 67.72    nlx[3] = 15.28  
	DEBUG: nly[1] = 0.00     nly[2] = -86.68   nly[3] = -216.49

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 67.72     lx[3] = 15.28  
	DEBUG:  ly[1] = 0.00      ly[2] = -86.68    ly[3] = -216.49

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 67.72    nlx[3] = -6.47  
	DEBUG: nly[1] = 0.00     nly[2] = -86.68   nly[3] = -205.41

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 67.72     lx[3] = -6.47  
	DEBUG:  ly[1] = 0.00      ly[2] = -86.68    ly[3] = -205.41

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 66.20    nlx[3] = -10.05 
	DEBUG: nly[1] = 0.00     nly[2] = -87.85   nly[3] = -205.26

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 66.20     lx[3] = -10.05 
	DEBUG:  ly[1] = 0.00      ly[2] = -87.85    ly[3] = -205.26

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 66.20    nlx[3] = -29.28 
	DEBUG: nly[1] = 0.00     nly[2] = -87.85   nly[3] = -190.24

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 66.20     lx[3] = -29.28 
	DEBUG:  ly[1] = 0.00      ly[2] = -87.85    ly[3] = -190.24

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 64.66    nlx[3] = -32.60 
	DEBUG: nly[1] = 0.00     nly[2] = -88.99   nly[3] = -189.70

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 64.66     lx[3] = -32.60 
	DEBUG:  ly[1] = 0.00      ly[2] = -88.99    ly[3] = -189.70

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 64.66    nlx[3] = -48.61 
	DEBUG: nly[1] = 0.00     nly[2] = -88.99   nly[3] = -171.28

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 64.66     lx[3] = -48.61 
	DEBUG:  ly[1] = 0.00      ly[2] = -88.99    ly[3] = -171.28

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 63.09    nlx[3] = -51.59 
	DEBUG: nly[1] = 0.00     nly[2] = -90.11   nly[3] = -170.41

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 63.09     lx[3] = -51.59 
	DEBUG:  ly[1] = 0.00      ly[2] = -90.11    ly[3] = -170.41

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 63.09    nlx[3] = -63.79 
	DEBUG: nly[1] = 0.00     nly[2] = -90.11   nly[3] = -149.27

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 63.09     lx[3] = -63.79 
	DEBUG:  ly[1] = 0.00      ly[2] = -90.11    ly[3] = -149.27

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 61.51    nlx[3] = -66.39 
	DEBUG: nly[1] = 0.00     nly[2] = -91.19   nly[3] = -148.14

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 61.51     lx[3] = -66.39 
	DEBUG:  ly[1] = 0.00      ly[2] = -91.19    ly[3] = -148.14

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 61.51    nlx[3] = -74.33 
	DEBUG: nly[1] = 0.00     nly[2] = -91.19   nly[3] = -125.06

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 61.51     lx[3] = -74.33 
	DEBUG:  ly[1] = 0.00      ly[2] = -91.19    ly[3] = -125.06

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 59.91    nlx[3] = -76.50 
	DEBUG: nly[1] = 0.00     nly[2] = -92.25   nly[3] = -123.75

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 59.91     lx[3] = -76.50 
	DEBUG:  ly[1] = 0.00      ly[2] = -92.25    ly[3] = -123.75

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 59.91    nlx[3] = -79.90 
	DEBUG: nly[1] = 0.00     nly[2] = -92.25   nly[3] = -99.58 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 59.91     lx[3] = -79.90 
	DEBUG:  ly[1] = 0.00      ly[2] = -92.25    ly[3] = -99.58 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 58.29    nlx[3] = -81.62 
	DEBUG: nly[1] = 0.00     nly[2] = -93.29   nly[3] = -98.17 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 58.29     lx[3] = -81.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -93.29    ly[3] = -98.17 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 58.29    nlx[3] = -80.35 
	DEBUG: nly[1] = 0.00     nly[2] = -93.29   nly[3] = -73.80 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 58.29     lx[3] = -80.35 
	DEBUG:  ly[1] = 0.00      ly[2] = -93.29    ly[3] = -73.80 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 56.65    nlx[3] = -81.62 
	DEBUG: nly[1] = 0.00     nly[2] = -94.29   nly[3] = -72.39 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 56.65     lx[3] = -81.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -94.29    ly[3] = -72.39 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 56.65    nlx[3] = -75.72 
	DEBUG: nly[1] = 0.00     nly[2] = -94.29   nly[3] = -48.71 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 56.65     lx[3] = -75.72 
	DEBUG:  ly[1] = 0.00      ly[2] = -94.29    ly[3] = -48.71 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 55.00    nlx[3] = -76.56 
	DEBUG: nly[1] = 0.00     nly[2] = -95.26   nly[3] = -47.38 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 55.00     lx[3] = -76.56 
	DEBUG:  ly[1] = 0.00      ly[2] = -95.26    ly[3] = -47.38 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 55.00    nlx[3] = -66.24 
	DEBUG: nly[1] = 0.00     nly[2] = -95.26   nly[3] = -25.26 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 55.00     lx[3] = -66.24 
	DEBUG:  ly[1] = 0.00      ly[2] = -95.26    ly[3] = -25.26 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 53.33    nlx[3] = -66.67 
	DEBUG: nly[1] = 0.00     nly[2] = -96.21   nly[3] = -24.10 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 53.33     lx[3] = -66.67 
	DEBUG:  ly[1] = 0.00      ly[2] = -96.21    ly[3] = -24.10 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 53.33    nlx[3] = -52.33 
	DEBUG: nly[1] = 0.00     nly[2] = -96.21   nly[3] = -4.36  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 53.33     lx[3] = -52.33 
	DEBUG:  ly[1] = 0.00      ly[2] = -96.21    ly[3] = -4.36  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 51.64    nlx[3] = -52.40 
	DEBUG: nly[1] = 0.00     nly[2] = -97.12   nly[3] = -3.45  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 51.64     lx[3] = -52.40 
	DEBUG:  ly[1] = 0.00      ly[2] = -97.12    ly[3] = -3.45  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 51.64    nlx[3] = -34.55 
	DEBUG: nly[1] = 0.00     nly[2] = -97.12   nly[3] = 13.20  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 51.64     lx[3] = -34.55 
	DEBUG:  ly[1] = 0.00      ly[2] = -97.12    ly[3] = 13.20  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 49.94    nlx[3] = -34.32 
	DEBUG: nly[1] = 0.00     nly[2] = -98.01   nly[3] = 13.80  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 49.94     lx[3] = -34.32 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.01    ly[3] = 13.80  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 49.94    nlx[3] = -13.62 
	DEBUG: nly[1] = 0.00     nly[2] = -98.01   nly[3] = 26.73  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 49.94     lx[3] = -13.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.01    ly[3] = 26.73  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 48.22    nlx[3] = -13.15 
	DEBUG: nly[1] = 0.00     nly[2] = -98.87   nly[3] = 26.96  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 48.22     lx[3] = -13.15 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.87    ly[3] = 26.96  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 48.22    nlx[3] = 9.63   
	DEBUG: nly[1] = 0.00     nly[2] = -98.87   nly[3] = 35.71  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 48.22     lx[3] = 9.63   
	DEBUG:  ly[1] = 0.00      ly[2] = -98.87    ly[3] = 35.71  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 46.49    nlx[3] = 10.25  
	DEBUG: nly[1] = 0.00     nly[2] = -99.69   nly[3] = 35.54  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 46.49     lx[3] = 10.25  
	DEBUG:  ly[1] = 0.00      ly[2] = -99.69    ly[3] = 35.54  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 46.49    nlx[3] = 34.29  
	DEBUG: nly[1] = 0.00     nly[2] = -99.69   nly[3] = 39.77  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 46.49     lx[3] = 34.29  
	DEBUG:  ly[1] = 0.00      ly[2] = -99.69    ly[3] = 39.77  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 44.74    nlx[3] = 34.98  
	DEBUG: nly[1] = 0.00     nly[2] = -100.49  nly[3] = 39.17  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 44.74     lx[3] = 34.98  
	DEBUG:  ly[1] = 0.00      ly[2] = -100.49   ly[3] = 39.17  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 44.74    nlx[3] = 59.38  
	DEBUG: nly[1] = 0.00     nly[2] = -100.49  nly[3] = 38.74  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 44.74     lx[3] = 59.38  
	DEBUG:  ly[1] = 0.00      ly[2] = -100.49   ly[3] = 38.74  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 42.98    nlx[3] = 60.04  
	DEBUG: nly[1] = 0.00     nly[2] = -101.26  nly[3] = 37.70  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 42.98     lx[3] = 60.04  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.26   ly[3] = 37.70  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 42.98    nlx[3] = 83.91  
	DEBUG: nly[1] = 0.00     nly[2] = -101.26  nly[3] = 32.63  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 42.98     lx[3] = 83.91  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.26   ly[3] = 32.63  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 41.21    nlx[3] = 84.47  
	DEBUG: nly[1] = 0.00     nly[2] = -101.99  nly[3] = 31.16  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 41.21     lx[3] = 84.47  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.99   ly[3] = 31.16  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 41.21    nlx[3] = 106.93 
	DEBUG: nly[1] = 0.00     nly[2] = -101.99  nly[3] = 21.62  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 41.21     lx[3] = 106.93 
	DEBUG:  ly[1] = 0.00      ly[2] = -101.99   ly[3] = 21.62  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 39.42    nlx[3] = 107.29 
	DEBUG: nly[1] = 0.00     nly[2] = -102.69  nly[3] = 19.75  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 39.42     lx[3] = 107.29 
	DEBUG:  ly[1] = 0.00      ly[2] = -102.69   ly[3] = 19.75  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 39.42    nlx[3] = 127.53 
	DEBUG: nly[1] = 0.00     nly[2] = -102.69  nly[3] = 6.11   

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 39.42     lx[3] = 127.53 
	DEBUG:  ly[1] = 0.00      ly[2] = -102.69   ly[3] = 6.11   

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 37.62    nlx[3] = 127.61 
	DEBUG: nly[1] = 0.00     nly[2] = -103.37  nly[3] = 3.88   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 37.62     lx[3] = 127.61 
	DEBUG:  ly[1] = 0.00      ly[2] = -103.37   ly[3] = 3.88   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 37.62    nlx[3] = 144.87 
	DEBUG: nly[1] = 0.00     nly[2] = -103.37  nly[3] = -13.38 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 37.62     lx[3] = 144.87 
	DEBUG:  ly[1] = 0.00      ly[2] = -103.37   ly[3] = -13.38 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 35.81    nlx[3] = 144.61 
	DEBUG: nly[1] = 0.00     nly[2] = -104.01  nly[3] = -15.90 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 35.81     lx[3] = 144.61 
	DEBUG:  ly[1] = 0.00      ly[2] = -104.01   ly[3] = -15.90 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 35.81    nlx[3] = 158.26 
	DEBUG: nly[1] = 0.00     nly[2] = -104.01  nly[3] = -36.13 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 35.81     lx[3] = 158.26 
	DEBUG:  ly[1] = 0.00      ly[2] = -104.01   ly[3] = -36.13 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 33.99    nlx[3] = 157.60 
	DEBUG: nly[1] = 0.00     nly[2] = -104.62  nly[3] = -38.89 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 33.99     lx[3] = 157.60 
	DEBUG:  ly[1] = 0.00      ly[2] = -104.62   ly[3] = -38.89 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 33.99    nlx[3] = 167.14 
	DEBUG: nly[1] = 0.00     nly[2] = -104.62  nly[3] = -61.35 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 33.99     lx[3] = 167.14 
	DEBUG:  ly[1] = 0.00      ly[2] = -104.62   ly[3] = -61.35 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 32.16    nlx[3] = 166.04 
	DEBUG: nly[1] = 0.00     nly[2] = -105.19  nly[3] = -64.26 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 32.16     lx[3] = 166.04 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.19   ly[3] = -64.26 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 32.16    nlx[3] = 171.12 
	DEBUG: nly[1] = 0.00     nly[2] = -105.19  nly[3] = -88.13 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 32.16     lx[3] = 171.12 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.19   ly[3] = -88.13 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 30.32    nlx[3] = 169.55 
	DEBUG: nly[1] = 0.00     nly[2] = -105.74  nly[3] = -91.10 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 30.32     lx[3] = 169.55 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.74   ly[3] = -91.10 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 30.32    nlx[3] = 169.98 
	DEBUG: nly[1] = 0.00     nly[2] = -105.74  nly[3] = -115.50

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 30.32     lx[3] = 169.98 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.74   ly[3] = -115.50

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 28.47    nlx[3] = 167.94 
	DEBUG: nly[1] = 0.00     nly[2] = -106.25  nly[3] = -118.45

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 28.47     lx[3] = 167.94 
	DEBUG:  ly[1] = 0.00      ly[2] = -106.25   ly[3] = -118.45

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 28.47    nlx[3] = 163.70 
	DEBUG: nly[1] = 0.00     nly[2] = -106.25  nly[3] = -142.49

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 28.47     lx[3] = 163.70 
	DEBUG:  ly[1] = 0.00      ly[2] = -106.25   ly[3] = -142.49

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 26.61    nlx[3] = 161.19 
	DEBUG: nly[1] = 0.00     nly[2] = -106.73  nly[3] = -145.32

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 26.61     lx[3] = 161.19 
	DEBUG:  ly[1] = 0.00      ly[2] = -106.73   ly[3] = -145.32

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 26.61    nlx[3] = 152.44 
	DEBUG: nly[1] = 0.00     nly[2] = -106.73  nly[3] = -168.10

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 26.61     lx[3] = 152.44 
	DEBUG:  ly[1] = 0.00      ly[2] = -106.73   ly[3] = -168.10

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 24.74    nlx[3] = 149.49 
	DEBUG: nly[1] = 0.00     nly[2] = -107.18  nly[3] = -170.74

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 24.74     lx[3] = 149.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -107.18   ly[3] = -170.74

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 24.74    nlx[3] = 136.55 
	DEBUG: nly[1] = 0.00     nly[2] = -107.18  nly[3] = -191.43

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 24.74     lx[3] = 136.55 
	DEBUG:  ly[1] = 0.00      ly[2] = -107.18   ly[3] = -191.43

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 22.87    nlx[3] = 133.19 
	DEBUG: nly[1] = 0.00     nly[2] = -107.60  nly[3] = -193.79

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 22.87     lx[3] = 133.19 
	DEBUG:  ly[1] = 0.00      ly[2] = -107.60   ly[3] = -193.79

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 22.87    nlx[3] = 116.55 
	DEBUG: nly[1] = 0.00     nly[2] = -107.60  nly[3] = -211.64

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 22.87     lx[3] = 116.55 
	DEBUG:  ly[1] = 0.00      ly[2] = -107.60   ly[3] = -211.64

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 20.99    nlx[3] = 112.84 
	DEBUG: nly[1] = 0.00     nly[2] = -107.98  nly[3] = -213.64

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 20.99     lx[3] = 112.84 
	DEBUG:  ly[1] = 0.00      ly[2] = -107.98   ly[3] = -213.64

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 20.99    nlx[3] = 93.09  
	DEBUG: nly[1] = 0.00     nly[2] = -107.98  nly[3] = -227.98

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 20.99     lx[3] = 93.09  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.98   ly[3] = -227.98

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 19.10    nlx[3] = 89.10  
	DEBUG: nly[1] = 0.00     nly[2] = -108.33  nly[3] = -229.57

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 19.10     lx[3] = 89.10  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.33   ly[3] = -229.57

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 19.10    nlx[3] = 66.98  
	DEBUG: nly[1] = 0.00     nly[2] = -108.33  nly[3] = -239.89

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 19.10     lx[3] = 66.98  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.33   ly[3] = -239.89

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 17.21    nlx[3] = 62.79  
	DEBUG: nly[1] = 0.00     nly[2] = -108.65  nly[3] = -241.02

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 17.21     lx[3] = 62.79  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.65   ly[3] = -241.02

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 17.21    nlx[3] = 39.11  
	DEBUG: nly[1] = 0.00     nly[2] = -108.65  nly[3] = -246.92

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 17.21     lx[3] = 39.11  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.65   ly[3] = -246.92

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 15.31    nlx[3] = 34.79  
	DEBUG: nly[1] = 0.00     nly[2] = -108.93  nly[3] = -247.57

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 15.31     lx[3] = 34.79  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.93   ly[3] = -247.57

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 15.31    nlx[3] = 10.42  
	DEBUG: nly[1] = 0.00     nly[2] = -108.93  nly[3] = -248.84

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 15.31     lx[3] = 10.42  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.93   ly[3] = -248.84

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 13.41    nlx[3] = 6.08   
	DEBUG: nly[1] = 0.00     nly[2] = -109.18  nly[3] = -248.99

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 13.41     lx[3] = 6.08   
	DEBUG:  ly[1] = 0.00      ly[2] = -109.18   ly[3] = -248.99

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 13.41    nlx[3] = -18.09 
	DEBUG: nly[1] = 0.00     nly[2] = -109.18  nly[3] = -245.59

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 13.41     lx[3] = -18.09 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.18   ly[3] = -245.59

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 11.50    nlx[3] = -22.37 
	DEBUG: nly[1] = 0.00     nly[2] = -109.40  nly[3] = -245.24

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 11.50     lx[3] = -22.37 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.40   ly[3] = -245.24

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 11.50    nlx[3] = -45.44 
	DEBUG: nly[1] = 0.00     nly[2] = -109.40  nly[3] = -237.29

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 11.50     lx[3] = -45.44 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.40   ly[3] = -237.29

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 9.59     nlx[3] = -49.58 
	DEBUG: nly[1] = 0.00     nly[2] = -109.58  nly[3] = -236.46

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 9.59      lx[3] = -49.58 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.58   ly[3] = -236.46

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 9.59     nlx[3] = -70.71 
	DEBUG: nly[1] = 0.00     nly[2] = -109.58  nly[3] = -224.26

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 9.59      lx[3] = -70.71 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.58   ly[3] = -224.26

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 7.67     nlx[3] = -74.62 
	DEBUG: nly[1] = 0.00     nly[2] = -109.73  nly[3] = -222.99

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 7.67      lx[3] = -74.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.73   ly[3] = -222.99

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 7.67     nlx[3] = -93.03 
	DEBUG: nly[1] = 0.00     nly[2] = -109.73  nly[3] = -206.98

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 7.67      lx[3] = -93.03 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.73   ly[3] = -206.98

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 5.76     nlx[3] = -96.63 
	DEBUG: nly[1] = 0.00     nly[2] = -109.85  nly[3] = -205.33

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 5.76      lx[3] = -96.63 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.85   ly[3] = -205.33

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 5.76     nlx[3] = -111.66
	DEBUG: nly[1] = 0.00     nly[2] = -109.85  nly[3] = -186.10

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 5.76      lx[3] = -111.66
	DEBUG:  ly[1] = 0.00      ly[2] = -109.85   ly[3] = -186.10

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 3.84     nlx[3] = -114.89
	DEBUG: nly[1] = 0.00     nly[2] = -109.93  nly[3] = -184.12

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 3.84      lx[3] = -114.89
	DEBUG:  ly[1] = 0.00      ly[2] = -109.93   ly[3] = -184.12

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 3.84     nlx[3] = -125.97
	DEBUG: nly[1] = 0.00     nly[2] = -109.93  nly[3] = -162.38

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 3.84      lx[3] = -125.97
	DEBUG:  ly[1] = 0.00      ly[2] = -109.93   ly[3] = -162.38

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 1.92     nlx[3] = -128.78
	DEBUG: nly[1] = 0.00     nly[2] = -109.98  nly[3] = -160.15

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 1.92      lx[3] = -128.78
	DEBUG:  ly[1] = 0.00      ly[2] = -109.98   ly[3] = -160.15

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 1.92     nlx[3] = -135.51
	DEBUG: nly[1] = 0.00     nly[2] = -109.98  nly[3] = -136.70

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 1.92      lx[3] = -135.51
	DEBUG:  ly[1] = 0.00      ly[2] = -109.98   ly[3] = -136.70

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 0.00     nlx[3] = -137.87
	DEBUG: nly[1] = 0.00     nly[2] = -110.00  nly[3] = -134.31

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = 0.00      lx[3] = -137.87
	DEBUG:  ly[1] = 0.00      ly[2] = -110.00   ly[3] = -134.31

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = 0.00     nlx[3] = -140.00
	DEBUG: nly[1] = 0.00     nly[2] = -110.00  nly[3] = -110.00

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = 0.00      lx[3] = -140.00
	DEBUG:  ly[1] = 0.00      ly[2] = -110.00   ly[3] = -110.00

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -1.92    nlx[3] = -141.90
	DEBUG: nly[1] = 0.00     nly[2] = -109.98  nly[3] = -107.54

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -1.92     lx[3] = -141.90
	DEBUG:  ly[1] = 0.00      ly[2] = -109.98   ly[3] = -107.54

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -1.92    nlx[3] = -139.35
	DEBUG: nly[1] = 0.00     nly[2] = -109.98  nly[3] = -83.27 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -1.92     lx[3] = -139.35
	DEBUG:  ly[1] = 0.00      ly[2] = -109.98   ly[3] = -83.27 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -3.84    nlx[3] = -140.78
	DEBUG: nly[1] = 0.00     nly[2] = -109.93  nly[3] = -80.83 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -3.84     lx[3] = -140.78
	DEBUG:  ly[1] = 0.00      ly[2] = -109.93   ly[3] = -80.83 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -3.84    nlx[3] = -133.64
	DEBUG: nly[1] = 0.00     nly[2] = -109.93  nly[3] = -57.49 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -3.84     lx[3] = -133.64
	DEBUG:  ly[1] = 0.00      ly[2] = -109.93   ly[3] = -57.49 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -5.76    nlx[3] = -134.63
	DEBUG: nly[1] = 0.00     nly[2] = -109.85  nly[3] = -55.15 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -5.76     lx[3] = -134.63
	DEBUG:  ly[1] = 0.00      ly[2] = -109.85   ly[3] = -55.15 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -5.76    nlx[3] = -123.17
	DEBUG: nly[1] = 0.00     nly[2] = -109.85  nly[3] = -33.60 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -5.76     lx[3] = -123.17
	DEBUG:  ly[1] = 0.00      ly[2] = -109.85   ly[3] = -33.60 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -7.67    nlx[3] = -123.74
	DEBUG: nly[1] = 0.00     nly[2] = -109.73  nly[3] = -31.45 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -7.67     lx[3] = -123.74
	DEBUG:  ly[1] = 0.00      ly[2] = -109.73   ly[3] = -31.45 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -7.67    nlx[3] = -108.38
	DEBUG: nly[1] = 0.00     nly[2] = -109.73  nly[3] = -12.48 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -7.67     lx[3] = -108.38
	DEBUG:  ly[1] = 0.00      ly[2] = -109.73   ly[3] = -12.48 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -9.59    nlx[3] = -108.58
	DEBUG: nly[1] = 0.00     nly[2] = -109.58  nly[3] = -10.59 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -9.59     lx[3] = -108.58
	DEBUG:  ly[1] = 0.00      ly[2] = -109.58   ly[3] = -10.59 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -9.59    nlx[3] = -89.89 
	DEBUG: nly[1] = 0.00     nly[2] = -109.58  nly[3] = 5.10   

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -9.59     lx[3] = -89.89 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.58   ly[3] = 5.10   

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -11.50   nlx[3] = -89.79 
	DEBUG: nly[1] = 0.00     nly[2] = -109.40  nly[3] = 6.67   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -11.50    lx[3] = -89.79 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.40   ly[3] = 6.67   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -11.50   nlx[3] = -68.44 
	DEBUG: nly[1] = 0.00     nly[2] = -109.40  nly[3] = 18.50  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -11.50    lx[3] = -68.44 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.40   ly[3] = 18.50  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -13.41   nlx[3] = -68.11 
	DEBUG: nly[1] = 0.00     nly[2] = -109.18  nly[3] = 19.69  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -13.41    lx[3] = -68.11 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.18   ly[3] = 19.69  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -13.41   nlx[3] = -44.90 
	DEBUG: nly[1] = 0.00     nly[2] = -109.18  nly[3] = 27.23  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -13.41    lx[3] = -44.90 
	DEBUG:  ly[1] = 0.00      ly[2] = -109.18   ly[3] = 27.23  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -15.31   nlx[3] = -44.42 
	DEBUG: nly[1] = 0.00     nly[2] = -108.93  nly[3] = 28.01  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -15.31    lx[3] = -44.42 
	DEBUG:  ly[1] = 0.00      ly[2] = -108.93   ly[3] = 28.01  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -15.31   nlx[3] = -20.19 
	DEBUG: nly[1] = 0.00     nly[2] = -108.93  nly[3] = 30.99  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -15.31    lx[3] = -20.19 
	DEBUG:  ly[1] = 0.00      ly[2] = -108.93   ly[3] = 30.99  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -17.21   nlx[3] = -19.65 
	DEBUG: nly[1] = 0.00     nly[2] = -108.65  nly[3] = 31.33  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -17.21    lx[3] = -19.65 
	DEBUG:  ly[1] = 0.00      ly[2] = -108.65   ly[3] = 31.33  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -17.21   nlx[3] = 4.69   
	DEBUG: nly[1] = 0.00     nly[2] = -108.65  nly[3] = 29.63  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -17.21    lx[3] = 4.69   
	DEBUG:  ly[1] = 0.00      ly[2] = -108.65   ly[3] = 29.63  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -19.10   nlx[3] = 5.21   
	DEBUG: nly[1] = 0.00     nly[2] = -108.33  nly[3] = 29.54  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -19.10    lx[3] = 5.21   
	DEBUG:  ly[1] = 0.00      ly[2] = -108.33   ly[3] = 29.54  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -19.10   nlx[3] = 28.78  
	DEBUG: nly[1] = 0.00     nly[2] = -108.33  nly[3] = 23.23  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -19.10    lx[3] = 28.78  
	DEBUG:  ly[1] = 0.00      ly[2] = -108.33   ly[3] = 23.23  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -20.99   nlx[3] = 29.18  
	DEBUG: nly[1] = 0.00     nly[2] = -107.98  nly[3] = 22.72  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -20.99    lx[3] = 29.18  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.98   ly[3] = 22.72  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -20.99   nlx[3] = 51.12  
	DEBUG: nly[1] = 0.00     nly[2] = -107.98  nly[3] = 12.02  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -20.99    lx[3] = 51.12  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.98   ly[3] = 12.02  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -22.87   nlx[3] = 51.32  
	DEBUG: nly[1] = 0.00     nly[2] = -107.60  nly[3] = 11.13  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -22.87    lx[3] = 51.32  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.60   ly[3] = 11.13  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -22.87   nlx[3] = 70.81  
	DEBUG: nly[1] = 0.00     nly[2] = -107.60  nly[3] = -3.56  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -22.87    lx[3] = 70.81  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.60   ly[3] = -3.56  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -24.74   nlx[3] = 70.74  
	DEBUG: nly[1] = 0.00     nly[2] = -107.18  nly[3] = -4.79  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -24.74    lx[3] = 70.74  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.18   ly[3] = -4.79  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -24.74   nlx[3] = 87.06  
	DEBUG: nly[1] = 0.00     nly[2] = -107.18  nly[3] = -22.93 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -24.74    lx[3] = 87.06  
	DEBUG:  ly[1] = 0.00      ly[2] = -107.18   ly[3] = -22.93 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -26.61   nlx[3] = 86.65  
	DEBUG: nly[1] = 0.00     nly[2] = -106.73  nly[3] = -24.44 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -26.61    lx[3] = 86.65  
	DEBUG:  ly[1] = 0.00      ly[2] = -106.73   ly[3] = -24.44 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -26.61   nlx[3] = 99.22  
	DEBUG: nly[1] = 0.00     nly[2] = -106.73  nly[3] = -45.36 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -26.61    lx[3] = 99.22  
	DEBUG:  ly[1] = 0.00      ly[2] = -106.73   ly[3] = -45.36 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -28.47   nlx[3] = 98.41  
	DEBUG: nly[1] = 0.00     nly[2] = -106.25  nly[3] = -47.09 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -28.47    lx[3] = 98.41  
	DEBUG:  ly[1] = 0.00      ly[2] = -106.25   ly[3] = -47.09 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -28.47   nlx[3] = 106.76 
	DEBUG: nly[1] = 0.00     nly[2] = -106.25  nly[3] = -70.02 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -28.47    lx[3] = 106.76 
	DEBUG:  ly[1] = 0.00      ly[2] = -106.25   ly[3] = -70.02 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -30.32   nlx[3] = 105.52 
	DEBUG: nly[1] = 0.00     nly[2] = -105.74  nly[3] = -71.87 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -30.32    lx[3] = 105.52 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.74   ly[3] = -71.87 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -30.32   nlx[3] = 109.34 
	DEBUG: nly[1] = 0.00     nly[2] = -105.74  nly[3] = -95.97 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -30.32    lx[3] = 109.34 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.74   ly[3] = -95.97 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -32.16   nlx[3] = 107.65 
	DEBUG: nly[1] = 0.00     nly[2] = -105.19  nly[3] = -97.87 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -32.16    lx[3] = 107.65 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.19   ly[3] = -97.87 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -32.16   nlx[3] = 106.80 
	DEBUG: nly[1] = 0.00     nly[2] = -105.19  nly[3] = -122.26

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -32.16    lx[3] = 106.80 
	DEBUG:  ly[1] = 0.00      ly[2] = -105.19   ly[3] = -122.26

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -33.99   nlx[3] = 104.65 
	DEBUG: nly[1] = 0.00     nly[2] = -104.62  nly[3] = -124.10

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -33.99    lx[3] = 104.65 
	DEBUG:  ly[1] = 0.00      ly[2] = -104.62   ly[3] = -124.10

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -33.99   nlx[3] = 99.16  
	DEBUG: nly[1] = 0.00     nly[2] = -104.62  nly[3] = -147.88

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -33.99    lx[3] = 99.16  
	DEBUG:  ly[1] = 0.00      ly[2] = -104.62   ly[3] = -147.88

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -35.81   nlx[3] = 96.56  
	DEBUG: nly[1] = 0.00     nly[2] = -104.01  nly[3] = -149.59

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -35.81    lx[3] = 96.56  
	DEBUG:  ly[1] = 0.00      ly[2] = -104.01   ly[3] = -149.59

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -35.81   nlx[3] = 86.63  
	DEBUG: nly[1] = 0.00     nly[2] = -104.01  nly[3] = -171.88

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -35.81    lx[3] = 86.63  
	DEBUG:  ly[1] = 0.00      ly[2] = -104.01   ly[3] = -171.88

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -37.62   nlx[3] = 83.62  
	DEBUG: nly[1] = 0.00     nly[2] = -103.37  nly[3] = -173.37

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -37.62    lx[3] = 83.62  
	DEBUG:  ly[1] = 0.00      ly[2] = -103.37   ly[3] = -173.37

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -37.62   nlx[3] = 69.62  
	DEBUG: nly[1] = 0.00     nly[2] = -103.37  nly[3] = -193.36

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -37.62    lx[3] = 69.62  
	DEBUG:  ly[1] = 0.00      ly[2] = -103.37   ly[3] = -193.36

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -39.42   nlx[3] = 66.24  
	DEBUG: nly[1] = 0.00     nly[2] = -102.69  nly[3] = -194.54

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -39.42    lx[3] = 66.24  
	DEBUG:  ly[1] = 0.00      ly[2] = -102.69   ly[3] = -194.54

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -39.42   nlx[3] = 48.68  
	DEBUG: nly[1] = 0.00     nly[2] = -102.69  nly[3] = -211.49

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -39.42    lx[3] = 48.68  
	DEBUG:  ly[1] = 0.00      ly[2] = -102.69   ly[3] = -211.49

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -41.21   nlx[3] = 44.99  
	DEBUG: nly[1] = 0.00     nly[2] = -101.99  nly[3] = -212.31

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -41.21    lx[3] = 44.99  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.99   ly[3] = -212.31

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -41.21   nlx[3] = 24.52  
	DEBUG: nly[1] = 0.00     nly[2] = -101.99  nly[3] = -225.60

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -41.21    lx[3] = 24.52  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.99   ly[3] = -225.60

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -42.98   nlx[3] = 20.58  
	DEBUG: nly[1] = 0.00     nly[2] = -101.26  nly[3] = -226.00

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -42.98    lx[3] = 20.58  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.26   ly[3] = -226.00

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -42.98   nlx[3] = -2.05  
	DEBUG: nly[1] = 0.00     nly[2] = -101.26  nly[3] = -235.14

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -42.98    lx[3] = -2.05  
	DEBUG:  ly[1] = 0.00      ly[2] = -101.26   ly[3] = -235.14

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -44.74   nlx[3] = -6.15  
	DEBUG: nly[1] = 0.00     nly[2] = -100.49  nly[3] = -235.07

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -44.74    lx[3] = -6.15  
	DEBUG:  ly[1] = 0.00      ly[2] = -100.49   ly[3] = -235.07

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -44.74   nlx[3] = -30.11 
	DEBUG: nly[1] = 0.00     nly[2] = -100.49  nly[3] = -239.72

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -44.74    lx[3] = -30.11 
	DEBUG:  ly[1] = 0.00      ly[2] = -100.49   ly[3] = -239.72

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -46.49   nlx[3] = -34.29 
	DEBUG: nly[1] = 0.00     nly[2] = -99.69   nly[3] = -239.16

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -46.49    lx[3] = -34.29 
	DEBUG:  ly[1] = 0.00      ly[2] = -99.69    ly[3] = -239.16

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -46.49   nlx[3] = -58.69 
	DEBUG: nly[1] = 0.00     nly[2] = -99.69   nly[3] = -239.16

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -46.49    lx[3] = -58.69 
	DEBUG:  ly[1] = 0.00      ly[2] = -99.69    ly[3] = -239.16

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -48.22   nlx[3] = -62.85 
	DEBUG: nly[1] = 0.00     nly[2] = -98.87   nly[3] = -238.10

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -48.22    lx[3] = -62.85 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.87    ly[3] = -238.10

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -48.22   nlx[3] = -86.81 
	DEBUG: nly[1] = 0.00     nly[2] = -98.87   nly[3] = -233.44

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -48.22    lx[3] = -86.81 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.87    ly[3] = -233.44

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -49.94   nlx[3] = -90.87 
	DEBUG: nly[1] = 0.00     nly[2] = -98.01   nly[3] = -231.89

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -49.94    lx[3] = -90.87 
	DEBUG:  ly[1] = 0.00      ly[2] = -98.01    ly[3] = -231.89

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -49.94   nlx[3] = -113.50
	DEBUG: nly[1] = 0.00     nly[2] = -98.01   nly[3] = -222.75

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -49.94    lx[3] = -113.50
	DEBUG:  ly[1] = 0.00      ly[2] = -98.01    ly[3] = -222.75

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -51.64   nlx[3] = -117.37
	DEBUG: nly[1] = 0.00     nly[2] = -97.12   nly[3] = -220.74

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -51.64    lx[3] = -117.37
	DEBUG:  ly[1] = 0.00      ly[2] = -97.12    ly[3] = -220.74

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -51.64   nlx[3] = -137.83
	DEBUG: nly[1] = 0.00     nly[2] = -97.12   nly[3] = -207.45

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -51.64    lx[3] = -137.83
	DEBUG:  ly[1] = 0.00      ly[2] = -97.12    ly[3] = -207.45

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -53.33   nlx[3] = -141.43
	DEBUG: nly[1] = 0.00     nly[2] = -96.21   nly[3] = -205.01

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -53.33    lx[3] = -141.43
	DEBUG:  ly[1] = 0.00      ly[2] = -96.21    ly[3] = -205.01

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -53.33   nlx[3] = -158.99
	DEBUG: nly[1] = 0.00     nly[2] = -96.21   nly[3] = -188.06

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -53.33    lx[3] = -158.99
	DEBUG:  ly[1] = 0.00      ly[2] = -96.21    ly[3] = -188.06

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -55.00   nlx[3] = -162.25
	DEBUG: nly[1] = 0.00     nly[2] = -95.26   nly[3] = -185.25

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -55.00    lx[3] = -162.25
	DEBUG:  ly[1] = 0.00      ly[2] = -95.26    ly[3] = -185.25

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -55.00   nlx[3] = -176.24
	DEBUG: nly[1] = 0.00     nly[2] = -95.26   nly[3] = -165.26

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -55.00    lx[3] = -176.24
	DEBUG:  ly[1] = 0.00      ly[2] = -95.26    ly[3] = -165.26

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -56.65   nlx[3] = -179.10
	DEBUG: nly[1] = 0.00     nly[2] = -94.29   nly[3] = -162.16

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -56.65    lx[3] = -179.10
	DEBUG:  ly[1] = 0.00      ly[2] = -94.29    ly[3] = -162.16

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -56.65   nlx[3] = -189.03
	DEBUG: nly[1] = 0.00     nly[2] = -94.29   nly[3] = -139.87

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -56.65    lx[3] = -189.03
	DEBUG:  ly[1] = 0.00      ly[2] = -94.29    ly[3] = -139.87

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -58.29   nlx[3] = -191.44
	DEBUG: nly[1] = 0.00     nly[2] = -93.29   nly[3] = -136.55

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -58.29    lx[3] = -191.44
	DEBUG:  ly[1] = 0.00      ly[2] = -93.29    ly[3] = -136.55

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -58.29   nlx[3] = -196.93
	DEBUG: nly[1] = 0.00     nly[2] = -93.29   nly[3] = -112.77

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -58.29    lx[3] = -196.93
	DEBUG:  ly[1] = 0.00      ly[2] = -93.29    ly[3] = -112.77

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -59.91   nlx[3] = -198.87
	DEBUG: nly[1] = 0.00     nly[2] = -92.25   nly[3] = -109.32

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -59.91    lx[3] = -198.87
	DEBUG:  ly[1] = 0.00      ly[2] = -92.25    ly[3] = -109.32

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -59.91   nlx[3] = -199.72
	DEBUG: nly[1] = 0.00     nly[2] = -92.25   nly[3] = -84.93 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -59.91    lx[3] = -199.72
	DEBUG:  ly[1] = 0.00      ly[2] = -92.25    ly[3] = -84.93 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -61.51   nlx[3] = -201.17
	DEBUG: nly[1] = 0.00     nly[2] = -91.19   nly[3] = -81.43 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -61.51    lx[3] = -201.17
	DEBUG:  ly[1] = 0.00      ly[2] = -91.19    ly[3] = -81.43 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -61.51   nlx[3] = -197.35
	DEBUG: nly[1] = 0.00     nly[2] = -91.19   nly[3] = -57.33 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -61.51    lx[3] = -197.35
	DEBUG:  ly[1] = 0.00      ly[2] = -91.19    ly[3] = -57.33 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -63.09   nlx[3] = -198.32
	DEBUG: nly[1] = 0.00     nly[2] = -90.11   nly[3] = -53.87 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -63.09    lx[3] = -198.32
	DEBUG:  ly[1] = 0.00      ly[2] = -90.11    ly[3] = -53.87 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -63.09   nlx[3] = -189.98
	DEBUG: nly[1] = 0.00     nly[2] = -90.11   nly[3] = -30.94 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -63.09    lx[3] = -189.98
	DEBUG:  ly[1] = 0.00      ly[2] = -90.11    ly[3] = -30.94 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -64.66   nlx[3] = -190.49
	DEBUG: nly[1] = 0.00     nly[2] = -88.99   nly[3] = -27.62 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -64.66    lx[3] = -190.49
	DEBUG:  ly[1] = 0.00      ly[2] = -88.99    ly[3] = -27.62 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -64.66   nlx[3] = -177.92
	DEBUG: nly[1] = 0.00     nly[2] = -88.99   nly[3] = -6.70  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -64.66    lx[3] = -177.92
	DEBUG:  ly[1] = 0.00      ly[2] = -88.99    ly[3] = -6.70  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -66.20   nlx[3] = -178.01
	DEBUG: nly[1] = 0.00     nly[2] = -87.85   nly[3] = -3.60  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -66.20    lx[3] = -178.01
	DEBUG:  ly[1] = 0.00      ly[2] = -87.85    ly[3] = -3.60  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -66.20   nlx[3] = -161.68
	DEBUG: nly[1] = 0.00     nly[2] = -87.85   nly[3] = 14.54  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -66.20    lx[3] = -161.68
	DEBUG:  ly[1] = 0.00      ly[2] = -87.85    ly[3] = 14.54  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -67.72   nlx[3] = -161.40
	DEBUG: nly[1] = 0.00     nly[2] = -86.68   nly[3] = 17.36  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -67.72    lx[3] = -161.40
	DEBUG:  ly[1] = 0.00      ly[2] = -86.68    ly[3] = 17.36  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -67.72   nlx[3] = -141.91
	DEBUG: nly[1] = 0.00     nly[2] = -86.68   nly[3] = 32.05  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -67.72    lx[3] = -141.91
	DEBUG:  ly[1] = 0.00      ly[2] = -86.68    ly[3] = 32.05  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -69.23   nlx[3] = -141.33
	DEBUG: nly[1] = 0.00     nly[2] = -85.49   nly[3] = 34.52  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -69.23    lx[3] = -141.33
	DEBUG:  ly[1] = 0.00      ly[2] = -85.49    ly[3] = 34.52  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -69.23   nlx[3] = -119.40
	DEBUG: nly[1] = 0.00     nly[2] = -85.49   nly[3] = 45.22  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -69.23    lx[3] = -119.40
	DEBUG:  ly[1] = 0.00      ly[2] = -85.49    ly[3] = 45.22  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -70.71   nlx[3] = -118.59
	DEBUG: nly[1] = 0.00     nly[2] = -84.26   nly[3] = 47.29  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -70.71    lx[3] = -118.59
	DEBUG:  ly[1] = 0.00      ly[2] = -84.26    ly[3] = 47.29  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -70.71   nlx[3] = -95.02 
	DEBUG: nly[1] = 0.00     nly[2] = -84.26   nly[3] = 53.61  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -70.71    lx[3] = -95.02 
	DEBUG:  ly[1] = 0.00      ly[2] = -84.26    ly[3] = 53.61  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -72.17   nlx[3] = -94.07 
	DEBUG: nly[1] = 0.00     nly[2] = -83.02   nly[3] = 55.26  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -72.17    lx[3] = -94.07 
	DEBUG:  ly[1] = 0.00      ly[2] = -83.02    ly[3] = 55.26  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -72.17   nlx[3] = -69.72 
	DEBUG: nly[1] = 0.00     nly[2] = -83.02   nly[3] = 56.96  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -72.17    lx[3] = -69.72 
	DEBUG:  ly[1] = 0.00      ly[2] = -83.02    ly[3] = 56.96  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -73.60   nlx[3] = -68.72 
	DEBUG: nly[1] = 0.00     nly[2] = -81.75   nly[3] = 58.17  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -73.60    lx[3] = -68.72 
	DEBUG:  ly[1] = 0.00      ly[2] = -81.75    ly[3] = 58.17  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -73.60   nlx[3] = -44.50 
	DEBUG: nly[1] = 0.00     nly[2] = -81.75   nly[3] = 55.19  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -73.60    lx[3] = -44.50 
	DEBUG:  ly[1] = 0.00      ly[2] = -81.75    ly[3] = 55.19  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -75.02   nlx[3] = -43.53 
	DEBUG: nly[1] = 0.00     nly[2] = -80.45   nly[3] = 55.96  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -75.02    lx[3] = -43.53 
	DEBUG:  ly[1] = 0.00      ly[2] = -80.45    ly[3] = 55.96  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -75.02   nlx[3] = -20.32 
	DEBUG: nly[1] = 0.00     nly[2] = -80.45   nly[3] = 48.42  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -75.02    lx[3] = -20.32 
	DEBUG:  ly[1] = 0.00      ly[2] = -80.45    ly[3] = 48.42  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -76.41   nlx[3] = -19.47 
	DEBUG: nly[1] = 0.00     nly[2] = -79.13   nly[3] = 48.77  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -76.41    lx[3] = -19.47 
	DEBUG:  ly[1] = 0.00      ly[2] = -79.13    ly[3] = 48.77  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -76.41   nlx[3] = 1.87   
	DEBUG: nly[1] = 0.00     nly[2] = -79.13   nly[3] = 36.94  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -76.41    lx[3] = 1.87   
	DEBUG:  ly[1] = 0.00      ly[2] = -79.13    ly[3] = 36.94  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -77.78   nlx[3] = 2.52   
	DEBUG: nly[1] = 0.00     nly[2] = -77.78   nly[3] = 36.90  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -77.78    lx[3] = 2.52   
	DEBUG:  ly[1] = 0.00      ly[2] = -77.78    ly[3] = 36.90  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -77.78   nlx[3] = 21.21  
	DEBUG: nly[1] = 0.00     nly[2] = -77.78   nly[3] = 21.21  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -77.78    lx[3] = 21.21  
	DEBUG:  ly[1] = 0.00      ly[2] = -77.78    ly[3] = 21.21  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -79.13   nlx[3] = 21.58  
	DEBUG: nly[1] = 0.00     nly[2] = -76.41   nly[3] = 20.84  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -79.13    lx[3] = 21.58  
	DEBUG:  ly[1] = 0.00      ly[2] = -76.41    ly[3] = 20.84  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -79.13   nlx[3] = 36.94  
	DEBUG: nly[1] = 0.00     nly[2] = -76.41   nly[3] = 1.87   

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -79.13    lx[3] = 36.94  
	DEBUG:  ly[1] = 0.00      ly[2] = -76.41    ly[3] = 1.87   

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -80.45   nlx[3] = 36.96  
	DEBUG: nly[1] = 0.00     nly[2] = -75.02   nly[3] = 1.23   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -80.45    lx[3] = 36.96  
	DEBUG:  ly[1] = 0.00      ly[2] = -75.02    ly[3] = 1.23   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -80.45   nlx[3] = 48.42  
	DEBUG: nly[1] = 0.00     nly[2] = -75.02   nly[3] = -20.32 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -80.45    lx[3] = 48.42  
	DEBUG:  ly[1] = 0.00      ly[2] = -75.02    ly[3] = -20.32 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -81.75   nlx[3] = 48.06  
	DEBUG: nly[1] = 0.00     nly[2] = -73.60   nly[3] = -21.16 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -81.75    lx[3] = 48.06  
	DEBUG:  ly[1] = 0.00      ly[2] = -73.60    ly[3] = -21.16 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -81.75   nlx[3] = 55.19  
	DEBUG: nly[1] = 0.00     nly[2] = -73.60   nly[3] = -44.50 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -81.75    lx[3] = 55.19  
	DEBUG:  ly[1] = 0.00      ly[2] = -73.60    ly[3] = -44.50 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -83.02   nlx[3] = 54.41  
	DEBUG: nly[1] = 0.00     nly[2] = -72.17   nly[3] = -45.45 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -83.02    lx[3] = 54.41  
	DEBUG:  ly[1] = 0.00      ly[2] = -72.17    ly[3] = -45.45 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -83.02   nlx[3] = 56.96  
	DEBUG: nly[1] = 0.00     nly[2] = -72.17   nly[3] = -69.72 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -83.02    lx[3] = 56.96  
	DEBUG:  ly[1] = 0.00      ly[2] = -72.17    ly[3] = -69.72 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -84.26   nlx[3] = 55.74  
	DEBUG: nly[1] = 0.00     nly[2] = -70.71   nly[3] = -70.71 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -84.26    lx[3] = 55.74  
	DEBUG:  ly[1] = 0.00      ly[2] = -70.71    ly[3] = -70.71 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -84.26   nlx[3] = 53.61  
	DEBUG: nly[1] = 0.00     nly[2] = -70.71   nly[3] = -95.02 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -84.26    lx[3] = 53.61  
	DEBUG:  ly[1] = 0.00      ly[2] = -70.71    ly[3] = -95.02 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -85.49   nlx[3] = 51.94  
	DEBUG: nly[1] = 0.00     nly[2] = -69.23   nly[3] = -95.94 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -85.49    lx[3] = 51.94  
	DEBUG:  ly[1] = 0.00      ly[2] = -69.23    ly[3] = -95.94 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -85.49   nlx[3] = 45.22  
	DEBUG: nly[1] = 0.00     nly[2] = -69.23   nly[3] = -119.40

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -85.49    lx[3] = 45.22  
	DEBUG:  ly[1] = 0.00      ly[2] = -69.23    ly[3] = -119.40

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -86.68   nlx[3] = 43.12  
	DEBUG: nly[1] = 0.00     nly[2] = -67.72   nly[3] = -120.17

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -86.68    lx[3] = 43.12  
	DEBUG:  ly[1] = 0.00      ly[2] = -67.72    ly[3] = -120.17

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -86.68   nlx[3] = 32.05  
	DEBUG: nly[1] = 0.00     nly[2] = -67.72   nly[3] = -141.91

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -86.68    lx[3] = 32.05  
	DEBUG:  ly[1] = 0.00      ly[2] = -67.72    ly[3] = -141.91

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -87.85   nlx[3] = 29.56  
	DEBUG: nly[1] = 0.00     nly[2] = -66.20   nly[3] = -142.45

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -87.85    lx[3] = 29.56  
	DEBUG:  ly[1] = 0.00      ly[2] = -66.20    ly[3] = -142.45

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -87.85   nlx[3] = 14.54  
	DEBUG: nly[1] = 0.00     nly[2] = -66.20   nly[3] = -161.68

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -87.85    lx[3] = 14.54  
	DEBUG:  ly[1] = 0.00      ly[2] = -66.20    ly[3] = -161.68

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -88.99   nlx[3] = 11.72  
	DEBUG: nly[1] = 0.00     nly[2] = -64.66   nly[3] = -161.91

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -88.99    lx[3] = 11.72  
	DEBUG:  ly[1] = 0.00      ly[2] = -64.66    ly[3] = -161.91

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -88.99   nlx[3] = -6.70  
	DEBUG: nly[1] = 0.00     nly[2] = -64.66   nly[3] = -177.92

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -88.99    lx[3] = -6.70  
	DEBUG:  ly[1] = 0.00      ly[2] = -64.66    ly[3] = -177.92

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -90.11   nlx[3] = -9.81  
	DEBUG: nly[1] = 0.00     nly[2] = -63.09   nly[3] = -177.77

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -90.11    lx[3] = -9.81  
	DEBUG:  ly[1] = 0.00      ly[2] = -63.09    ly[3] = -177.77

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -90.11   nlx[3] = -30.94 
	DEBUG: nly[1] = 0.00     nly[2] = -63.09   nly[3] = -189.98

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -90.11    lx[3] = -30.94 
	DEBUG:  ly[1] = 0.00      ly[2] = -63.09    ly[3] = -189.98

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -91.19   nlx[3] = -34.25 
	DEBUG: nly[1] = 0.00     nly[2] = -61.51   nly[3] = -189.41

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -91.19    lx[3] = -34.25 
	DEBUG:  ly[1] = 0.00      ly[2] = -61.51    ly[3] = -189.41

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -91.19   nlx[3] = -57.33 
	DEBUG: nly[1] = 0.00     nly[2] = -61.51   nly[3] = -197.35

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -91.19    lx[3] = -57.33 
	DEBUG:  ly[1] = 0.00      ly[2] = -61.51    ly[3] = -197.35

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -92.25   nlx[3] = -60.76 
	DEBUG: nly[1] = 0.00     nly[2] = -59.91   nly[3] = -196.32

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -92.25    lx[3] = -60.76 
	DEBUG:  ly[1] = 0.00      ly[2] = -59.91    ly[3] = -196.32

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -92.25   nlx[3] = -84.93 
	DEBUG: nly[1] = 0.00     nly[2] = -59.91   nly[3] = -199.72

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -92.25    lx[3] = -84.93 
	DEBUG:  ly[1] = 0.00      ly[2] = -59.91    ly[3] = -199.72

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -93.29   nlx[3] = -88.40 
	DEBUG: nly[1] = 0.00     nly[2] = -58.29   nly[3] = -198.21

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -93.29    lx[3] = -88.40 
	DEBUG:  ly[1] = 0.00      ly[2] = -58.29    ly[3] = -198.21

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -93.29   nlx[3] = -112.77
	DEBUG: nly[1] = 0.00     nly[2] = -58.29   nly[3] = -196.93

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -93.29    lx[3] = -112.77
	DEBUG:  ly[1] = 0.00      ly[2] = -58.29    ly[3] = -196.93

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -94.29   nlx[3] = -116.19
	DEBUG: nly[1] = 0.00     nly[2] = -56.65   nly[3] = -194.93

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -94.29    lx[3] = -116.19
	DEBUG:  ly[1] = 0.00      ly[2] = -56.65    ly[3] = -194.93

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -94.29   nlx[3] = -139.87
	DEBUG: nly[1] = 0.00     nly[2] = -56.65   nly[3] = -189.03

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -94.29    lx[3] = -139.87
	DEBUG:  ly[1] = 0.00      ly[2] = -56.65    ly[3] = -189.03

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -95.26   nlx[3] = -143.15
	DEBUG: nly[1] = 0.00     nly[2] = -55.00   nly[3] = -186.56

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -95.26    lx[3] = -143.15
	DEBUG:  ly[1] = 0.00      ly[2] = -55.00    ly[3] = -186.56

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -95.26   nlx[3] = -165.26
	DEBUG: nly[1] = 0.00     nly[2] = -55.00   nly[3] = -176.24

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -95.26    lx[3] = -165.26
	DEBUG:  ly[1] = 0.00      ly[2] = -55.00    ly[3] = -176.24

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -96.21   nlx[3] = -168.31
	DEBUG: nly[1] = 0.00     nly[2] = -53.33   nly[3] = -173.33

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -96.21    lx[3] = -168.31
	DEBUG:  ly[1] = 0.00      ly[2] = -53.33    ly[3] = -173.33

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -96.21   nlx[3] = -188.06
	DEBUG: nly[1] = 0.00     nly[2] = -53.33   nly[3] = -158.99

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -96.21    lx[3] = -188.06
	DEBUG:  ly[1] = 0.00      ly[2] = -53.33    ly[3] = -158.99

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -97.12   nlx[3] = -190.80
	DEBUG: nly[1] = 0.00     nly[2] = -51.64   nly[3] = -155.68

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -97.12    lx[3] = -190.80
	DEBUG:  ly[1] = 0.00      ly[2] = -51.64    ly[3] = -155.68

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -97.12   nlx[3] = -207.45
	DEBUG: nly[1] = 0.00     nly[2] = -51.64   nly[3] = -137.83

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -97.12    lx[3] = -207.45
	DEBUG:  ly[1] = 0.00      ly[2] = -51.64    ly[3] = -137.83

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -98.01   nlx[3] = -209.82
	DEBUG: nly[1] = 0.00     nly[2] = -49.94   nly[3] = -134.19

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -98.01    lx[3] = -209.82
	DEBUG:  ly[1] = 0.00      ly[2] = -49.94    ly[3] = -134.19

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -98.01   nlx[3] = -222.75
	DEBUG: nly[1] = 0.00     nly[2] = -49.94   nly[3] = -113.50

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -98.01    lx[3] = -222.75
	DEBUG:  ly[1] = 0.00      ly[2] = -49.94    ly[3] = -113.50

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -98.87   nlx[3] = -224.70
	DEBUG: nly[1] = 0.00     nly[2] = -48.22   nly[3] = -109.59

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -98.87    lx[3] = -224.70
	DEBUG:  ly[1] = 0.00      ly[2] = -48.22    ly[3] = -109.59

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -98.87   nlx[3] = -233.44
	DEBUG: nly[1] = 0.00     nly[2] = -48.22   nly[3] = -86.81 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -98.87    lx[3] = -233.44
	DEBUG:  ly[1] = 0.00      ly[2] = -48.22    ly[3] = -86.81 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -99.69   nlx[3] = -234.92
	DEBUG: nly[1] = 0.00     nly[2] = -46.49   nly[3] = -82.72 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -99.69    lx[3] = -234.92
	DEBUG:  ly[1] = 0.00      ly[2] = -46.49    ly[3] = -82.72 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -99.69   nlx[3] = -239.16
	DEBUG: nly[1] = 0.00     nly[2] = -46.49   nly[3] = -58.69 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -99.69    lx[3] = -239.16
	DEBUG:  ly[1] = 0.00      ly[2] = -46.49    ly[3] = -58.69 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -100.49  nlx[3] = -240.15
	DEBUG: nly[1] = 0.00     nly[2] = -44.74   nly[3] = -54.51 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -100.49   lx[3] = -240.15
	DEBUG:  ly[1] = 0.00      ly[2] = -44.74    ly[3] = -54.51 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -100.49  nlx[3] = -239.72
	DEBUG: nly[1] = 0.00     nly[2] = -44.74   nly[3] = -30.11 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -100.49   lx[3] = -239.72
	DEBUG:  ly[1] = 0.00      ly[2] = -44.74    ly[3] = -30.11 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -101.26  nlx[3] = -240.21
	DEBUG: nly[1] = 0.00     nly[2] = -42.98   nly[3] = -25.92 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -101.26   lx[3] = -240.21
	DEBUG:  ly[1] = 0.00      ly[2] = -42.98    ly[3] = -25.92 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -101.26  nlx[3] = -235.14
	DEBUG: nly[1] = 0.00     nly[2] = -42.98   nly[3] = -2.05  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -101.26   lx[3] = -235.14
	DEBUG:  ly[1] = 0.00      ly[2] = -42.98    ly[3] = -2.05  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -101.99  nlx[3] = -235.14
	DEBUG: nly[1] = 0.00     nly[2] = -41.21   nly[3] = 2.06   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -101.99   lx[3] = -235.14
	DEBUG:  ly[1] = 0.00      ly[2] = -41.21    ly[3] = 2.06   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -101.99  nlx[3] = -225.60
	DEBUG: nly[1] = 0.00     nly[2] = -41.21   nly[3] = 24.52  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -101.99   lx[3] = -225.60
	DEBUG:  ly[1] = 0.00      ly[2] = -41.21    ly[3] = 24.52  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -102.69  nlx[3] = -225.14
	DEBUG: nly[1] = 0.00     nly[2] = -39.42   nly[3] = 28.45  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -102.69   lx[3] = -225.14
	DEBUG:  ly[1] = 0.00      ly[2] = -39.42    ly[3] = 28.45  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -102.69  nlx[3] = -211.49
	DEBUG: nly[1] = 0.00     nly[2] = -39.42   nly[3] = 48.68  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -102.69   lx[3] = -211.49
	DEBUG:  ly[1] = 0.00      ly[2] = -39.42    ly[3] = 48.68  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -103.37  nlx[3] = -210.61
	DEBUG: nly[1] = 0.00     nly[2] = -37.62   nly[3] = 52.37  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -103.37   lx[3] = -210.61
	DEBUG:  ly[1] = 0.00      ly[2] = -37.62    ly[3] = 52.37  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -103.37  nlx[3] = -193.36
	DEBUG: nly[1] = 0.00     nly[2] = -37.62   nly[3] = 69.62  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -103.37   lx[3] = -193.36
	DEBUG:  ly[1] = 0.00      ly[2] = -37.62    ly[3] = 69.62  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -104.01  nlx[3] = -192.11
	DEBUG: nly[1] = 0.00     nly[2] = -35.81   nly[3] = 72.99  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -104.01   lx[3] = -192.11
	DEBUG:  ly[1] = 0.00      ly[2] = -35.81    ly[3] = 72.99  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -104.01  nlx[3] = -171.88
	DEBUG: nly[1] = 0.00     nly[2] = -35.81   nly[3] = 86.63  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -104.01   lx[3] = -171.88
	DEBUG:  ly[1] = 0.00      ly[2] = -35.81    ly[3] = 86.63  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -104.62  nlx[3] = -170.34
	DEBUG: nly[1] = 0.00     nly[2] = -33.99   nly[3] = 89.62  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -104.62   lx[3] = -170.34
	DEBUG:  ly[1] = 0.00      ly[2] = -33.99    ly[3] = 89.62  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -104.62  nlx[3] = -147.88
	DEBUG: nly[1] = 0.00     nly[2] = -33.99   nly[3] = 99.16  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -104.62   lx[3] = -147.88
	DEBUG:  ly[1] = 0.00      ly[2] = -33.99    ly[3] = 99.16  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -105.19  nlx[3] = -146.13
	DEBUG: nly[1] = 0.00     nly[2] = -32.16   nly[3] = 101.72 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -105.19   lx[3] = -146.13
	DEBUG:  ly[1] = 0.00      ly[2] = -32.16    ly[3] = 101.72 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -105.19  nlx[3] = -122.26
	DEBUG: nly[1] = 0.00     nly[2] = -32.16   nly[3] = 106.80 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -105.19   lx[3] = -122.26
	DEBUG:  ly[1] = 0.00      ly[2] = -32.16    ly[3] = 106.80 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -105.74  nlx[3] = -120.37
	DEBUG: nly[1] = 0.00     nly[2] = -30.32   nly[3] = 108.91 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -105.74   lx[3] = -120.37
	DEBUG:  ly[1] = 0.00      ly[2] = -30.32    ly[3] = 108.91 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -105.74  nlx[3] = -95.97 
	DEBUG: nly[1] = 0.00     nly[2] = -30.32   nly[3] = 109.34 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -105.74   lx[3] = -95.97 
	DEBUG:  ly[1] = 0.00      ly[2] = -30.32    ly[3] = 109.34 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -106.25  nlx[3] = -94.05 
	DEBUG: nly[1] = 0.00     nly[2] = -28.47   nly[3] = 111.00 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -106.25   lx[3] = -94.05 
	DEBUG:  ly[1] = 0.00      ly[2] = -28.47    ly[3] = 111.00 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -106.25  nlx[3] = -70.02 
	DEBUG: nly[1] = 0.00     nly[2] = -28.47   nly[3] = 106.76 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -106.25   lx[3] = -70.02 
	DEBUG:  ly[1] = 0.00      ly[2] = -28.47    ly[3] = 106.76 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -106.73  nlx[3] = -68.14 
	DEBUG: nly[1] = 0.00     nly[2] = -26.61   nly[3] = 107.97 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -106.73   lx[3] = -68.14 
	DEBUG:  ly[1] = 0.00      ly[2] = -26.61    ly[3] = 107.97 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -106.73  nlx[3] = -45.36 
	DEBUG: nly[1] = 0.00     nly[2] = -26.61   nly[3] = 99.22  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -106.73   lx[3] = -45.36 
	DEBUG:  ly[1] = 0.00      ly[2] = -26.61    ly[3] = 99.22  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.18  nlx[3] = -43.62 
	DEBUG: nly[1] = 0.00     nly[2] = -24.74   nly[3] = 100.00 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -107.18   lx[3] = -43.62 
	DEBUG:  ly[1] = 0.00      ly[2] = -24.74    ly[3] = 100.00 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.18  nlx[3] = -22.93 
	DEBUG: nly[1] = 0.00     nly[2] = -24.74   nly[3] = 87.06  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -107.18   lx[3] = -22.93 
	DEBUG:  ly[1] = 0.00      ly[2] = -24.74    ly[3] = 87.06  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.60  nlx[3] = -21.40 
	DEBUG: nly[1] = 0.00     nly[2] = -22.87   nly[3] = 87.45  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -107.60   lx[3] = -21.40 
	DEBUG:  ly[1] = 0.00      ly[2] = -22.87    ly[3] = 87.45  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.60  nlx[3] = -3.56  
	DEBUG: nly[1] = 0.00     nly[2] = -22.87   nly[3] = 70.81  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -107.60   lx[3] = -3.56  
	DEBUG:  ly[1] = 0.00      ly[2] = -22.87    ly[3] = 70.81  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.98  nlx[3] = -2.32  
	DEBUG: nly[1] = 0.00     nly[2] = -20.99   nly[3] = 70.86  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -107.98   lx[3] = -2.32  
	DEBUG:  ly[1] = 0.00      ly[2] = -20.99    ly[3] = 70.86  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -107.98  nlx[3] = 12.02  
	DEBUG: nly[1] = 0.00     nly[2] = -20.99   nly[3] = 51.12  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -107.98   lx[3] = 12.02  
	DEBUG:  ly[1] = 0.00      ly[2] = -20.99    ly[3] = 51.12  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.33  nlx[3] = 12.91  
	DEBUG: nly[1] = 0.00     nly[2] = -19.10   nly[3] = 50.90  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -108.33   lx[3] = 12.91  
	DEBUG:  ly[1] = 0.00      ly[2] = -19.10    ly[3] = 50.90  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.33  nlx[3] = 23.23  
	DEBUG: nly[1] = 0.00     nly[2] = -19.10   nly[3] = 28.78  

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -108.33   lx[3] = 23.23  
	DEBUG:  ly[1] = 0.00      ly[2] = -19.10    ly[3] = 28.78  

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.65  nlx[3] = 23.73  
	DEBUG: nly[1] = 0.00     nly[2] = -17.21   nly[3] = 28.37  

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -108.65   lx[3] = 23.73  
	DEBUG:  ly[1] = 0.00      ly[2] = -17.21    ly[3] = 28.37  

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.65  nlx[3] = 29.63  
	DEBUG: nly[1] = 0.00     nly[2] = -17.21   nly[3] = 4.69   

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -108.65   lx[3] = 29.63  
	DEBUG:  ly[1] = 0.00      ly[2] = -17.21    ly[3] = 4.69   

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.93  nlx[3] = 29.71  
	DEBUG: nly[1] = 0.00     nly[2] = -15.31   nly[3] = 4.18   

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -108.93   lx[3] = 29.71  
	DEBUG:  ly[1] = 0.00      ly[2] = -15.31    ly[3] = 4.18   

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -108.93  nlx[3] = 30.99  
	DEBUG: nly[1] = 0.00     nly[2] = -15.31   nly[3] = -20.19 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -108.93   lx[3] = 30.99  
	DEBUG:  ly[1] = 0.00      ly[2] = -15.31    ly[3] = -20.19 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.18  nlx[3] = 30.63  
	DEBUG: nly[1] = 0.00     nly[2] = -13.41   nly[3] = -20.73 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.18   lx[3] = 30.63  
	DEBUG:  ly[1] = 0.00      ly[2] = -13.41    ly[3] = -20.73 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.18  nlx[3] = 27.23  
	DEBUG: nly[1] = 0.00     nly[2] = -13.41   nly[3] = -44.90 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.18   lx[3] = 27.23  
	DEBUG:  ly[1] = 0.00      ly[2] = -13.41    ly[3] = -44.90 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.40  nlx[3] = 26.44  
	DEBUG: nly[1] = 0.00     nly[2] = -11.50   nly[3] = -45.37 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.40   lx[3] = 26.44  
	DEBUG:  ly[1] = 0.00      ly[2] = -11.50    ly[3] = -45.37 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.40  nlx[3] = 18.50  
	DEBUG: nly[1] = 0.00     nly[2] = -11.50   nly[3] = -68.44 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.40   lx[3] = 18.50  
	DEBUG:  ly[1] = 0.00      ly[2] = -11.50    ly[3] = -68.44 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.58  nlx[3] = 17.30  
	DEBUG: nly[1] = 0.00     nly[2] = -9.59    nly[3] = -68.75 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.58   lx[3] = 17.30  
	DEBUG:  ly[1] = 0.00      ly[2] = -9.59     ly[3] = -68.75 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.58  nlx[3] = 5.10   
	DEBUG: nly[1] = 0.00     nly[2] = -9.59    nly[3] = -89.89 

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.58   lx[3] = 5.10   
	DEBUG:  ly[1] = 0.00      ly[2] = -9.59     ly[3] = -89.89 

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.73  nlx[3] = 3.53   
	DEBUG: nly[1] = 0.00     nly[2] = -7.67    nly[3] = -89.96 

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.73   lx[3] = 3.53   
	DEBUG:  ly[1] = 0.00      ly[2] = -7.67     ly[3] = -89.96 

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.73  nlx[3] = -12.48 
	DEBUG: nly[1] = 0.00     nly[2] = -7.67    nly[3] = -108.38

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.73   lx[3] = -12.48 
	DEBUG:  ly[1] = 0.00      ly[2] = -7.67     ly[3] = -108.38

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.85  nlx[3] = -14.37 
	DEBUG: nly[1] = 0.00     nly[2] = -5.76    nly[3] = -108.15

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.85   lx[3] = -14.37 
	DEBUG:  ly[1] = 0.00      ly[2] = -5.76     ly[3] = -108.15

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.85  nlx[3] = -33.60 
	DEBUG: nly[1] = 0.00     nly[2] = -5.76    nly[3] = -123.17

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.85   lx[3] = -33.60 
	DEBUG:  ly[1] = 0.00      ly[2] = -5.76     ly[3] = -123.17

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.93  nlx[3] = -35.74 
	DEBUG: nly[1] = 0.00     nly[2] = -3.84    nly[3] = -122.57

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.93   lx[3] = -35.74 
	DEBUG:  ly[1] = 0.00      ly[2] = -3.84     ly[3] = -122.57

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.93  nlx[3] = -57.49 
	DEBUG: nly[1] = 0.00     nly[2] = -3.84    nly[3] = -133.64

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.93   lx[3] = -57.49 
	DEBUG:  ly[1] = 0.00      ly[2] = -3.84     ly[3] = -133.64

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.98  nlx[3] = -59.81 
	DEBUG: nly[1] = 0.00     nly[2] = -1.92    nly[3] = -132.62

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -109.98   lx[3] = -59.81 
	DEBUG:  ly[1] = 0.00      ly[2] = -1.92     ly[3] = -132.62

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -109.98  nlx[3] = -83.27 
	DEBUG: nly[1] = 0.00     nly[2] = -1.92    nly[3] = -139.35

	DEBUG: Before Rotating motor 1
	DEBUG:  lx[1] = 0.00      lx[2] = -109.98   lx[3] = -83.27 
	DEBUG:  ly[1] = 0.00      ly[2] = -1.92     ly[3] = -139.35

	DEBUG: After Rotating motor 1 by 1.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -110.00  nlx[3] = -85.69 
	DEBUG: nly[1] = 0.00     nly[2] = -0.00    nly[3] = -137.87

	DEBUG: Before Rotating motor 2
	DEBUG:  lx[1] = 0.00      lx[2] = -110.00   lx[3] = -85.69 
	DEBUG:  ly[1] = 0.00      ly[2] = -0.00     ly[3] = -137.87

	DEBUG: After Rotating motor 2 by 10.000000 degree
	DEBUG: nlx[1] = 0.00     nlx[2] = -110.00  nlx[3] = -110.00
	DEBUG: nly[1] = 0.00     nly[2] = -0.00    nly[3] = -140.00

Published with MATLAB® R2012b