Cartesian Robot Simulator

This is a simple simulator of a 3 DOF cartesian robot.

This code basically draws the robot accurately, and refreshes the drawing based on the relations between the links and the motors. So it is rather
ideal than realistic. However, simulation results on physical models
can be visualized using this type of approach or models can be
implemented, as future work. It is also possible to use this as an
interface of a small scale prototype which is Arduino microcontroller
based.(This was why this code was written actually, with the initial intention to use it as an interface for a prototype 3D printer/laser/engraver controlled by an Arduino. That is why motor steps, thread, link, frame lengths etc. are all parametrized)

Feel free to use it, play with it. I would also appreciate any credit, too.

(Arduino implementation is not included, yet)