Inverse Kinematics

I have an old joystick laying around that I thought would be fun to use to control the arm on the tank. However, it has a limited number of degrees of freedom. My desire was to have each axis of the joystick move the end of the arm in the X or Y direction. This was tricky as the arm is a non-Cartesian design. I'm using inverse kinematics to calculate the angles of each joint based on given X,Y coordinates.

I wanted to make a proof of concept before debugging on the full system. I decided to write a Processing script that would follow the mouse cursor. Above is a simple gif if the program.