adds rotational offset debugging card, fixes some links

docs/openpnp/debugging/feeder-rotation.md

@@ -10,4 +10,4 @@ When setting the position of a feeder, the rotation value you enter is equal to
 
 ## The part's vision pipeline needs adjustment
 
-If your rotation offset is consistently 90 or 180 degrees this is less likely, but it could still worth [adjusting that part's vision pipeline](../../vision-pipeline-adjustment/5-part-identification-pipeline.md).
+If your rotation offset is consistently 90 or 180 degrees this is less likely, but it could still worth [adjusting that part's vision pipeline](/openpnp/vision-pipeline-adjustment/5-part-identification-pipeline/).

docs/openpnp/debugging/index.md

@@ -32,6 +32,11 @@ You might have found an inaccuracy or error when placing parts. This page addres
   image: img/part-offset.png
   url: part-offset.md
 
+- title: Rotational offset
+  content: Parts are placed with a consistent rotational offset
+  image: img/rotational-offset.png
+  url: rotational-offset.md
+
 - title: 90 degree offset
   content: Parts are rotated in increments of 90 degrees
   image: img/feeder-rotation.png
@@ -48,11 +53,11 @@ You might have found an inaccuracy or error when placing parts. This page addres
 If the nozzle is not picking parts consistently, there are a few potential root causes:
 
 - **The vacuum sensor threshold is too sensitive.** If you notice that your nozzle is attempting to pick a part, but seems to raise up too quickly, the vacuum sensor threshold value is incorrectly telling OpenPnP that it's successfully picked the part. This can be solved by [tuning your vacuum sensor threshold value](/openpnp/calibration/10-vacuum-sensor).
-- **The feeder Z position is set too high.** If the machine is told to pick a part slightly too high, the nozzle tip doesn't make a good seal on the part, and fails to pick. This is solved by adjusting the [feeder's height](../1-installing-the-feeders/index.md).
+- **The feeder Z position is set too high.** If the machine is told to pick a part slightly too high, the nozzle tip doesn't make a good seal on the part, and fails to pick. This is solved by adjusting the [feeder's height](/feeders/7-setting-pick-position/setting-pick-position/).
 - **Lack of suction force from the nozzle tip.** Especially for the smallest N045 nozzle tip, some solder paste can get stuck in the tip, reducing suction force. If you cannot see a tiny circle of light shining through the tip when held up to a light, you might need to clean the tip with a thin wire and some isopropyl alcohol.
 
 ### "No result found" error
 
 ![no parts found error](/openpnp/vision-pipeline-adjustment/images/no-parts-found.png)
 
-- If the component was not identified by the bottom camera correctly, you will likely need to adjust its [Part Identification Vision Pipeline](../../vision-pipeline-adjustment/5-part-identification-pipeline.md).
+- If the component was not identified by the bottom camera correctly, you will likely need to adjust its [Part Identification Vision Pipeline](/openpnp/vision-pipeline-adjustment/5-part-identification-pipeline.md).

docs/openpnp/debugging/rotational-offset.md

@@ -0,0 +1,23 @@
+---
+description: Instructions for fixing a consistent rotational offset
+---
+
+# Rotational offset
+
+![parts placed with a consistent global offset for only one nozzle](img/rotational-offset.png){: style="width:60%;margin-left:10%;"}
+
+If parts placed have a consistent rotational offset, there are a couple potential root causes:
+
+## The nozzle tip is too small for the part you're picking
+
+If the nozzle tip you've selected to pick a part doesn't apply enough suction force to the part, it can cause the part to shift on the nozzle tip, often causing a rotational offset that we call "pirouetting." Increase the nozzle tip diameter you're using for that part to prevent this.
+
+## The bottom camera needs a rotation adjustment
+
+If parts from both nozzles are causing a consistent rotational offset, it could be that you need to adjust your bottom camera rotation. Navigate to `Machine Setup -> Cameras -> OpenPnPCaptureCamera Bottom -> Image Transforms` and adjust the value in the `Rotation` field.
+
+![adjusting camera rotation](img/adjusting-camera-rotation.png)
+
+## The bottom vision pipeline for your parts needs adjustment
+
+OpenPnP decides how to place parts onto your board based on what it sees in the bottom camera view. If a bright light or reflective surface in view of the camera is making OpenPnP think your part is a different size than it is, you'll see a placement error. [Adjust your part identification pipeline](/openpnp/vision-pipeline-adjustment/5).