How to add a new arm solution?

Hello,

I created a new movement which use only the same variable as the cartesian solution.
I created both the myArmSolution.cpp and myArmSolution.h file in arms solution.
Could you help me to find the next steps?
I just downloaded the standard config file and added: arm_solution myArm
But it doesn’t seem ok. and i couldn’t find the next steps

Thank for your help

Imported from wikidot

You also want to add your arm solution to the Robots module.

Thank you. That is working.