Hello Alex,
But why would you expect the A value to stay the same? Note that your base (as it's an offset base) is rotating and the tool is staying at a similar position in space, so the A value needs to change in order to compensate.
If you look at the code, adding A and E1 is always somewhere between -30 and -50 (in my version, I had to do some changes due to different components).
Further down it becomes -400, which is just negative -360 -40, so basically the same.
In your screenshot the added value is closer to 0.
If your robot is behaving differently, most likely it's not using an offset base that is rotating.
Best,
Johannes
