BioMax
+1y
The general idea is to have the bars near parallel to the ground a half travel. Wether it be one or the other, it would only be a few inches off at worst. You can screw up pretty bad and still have a driveable vehicle when you are done, so just try to get it as close as you can.
In a situation where the upper bars are shorter than the lowers, I set up the uppers to be parallel to the ground at half travel and then point the lower bars up a bit to get my i.c. This will eliminate as much of the pinion change as you can.
On a triangulated system, you would not calculate the angle of the bars into the bar length. Instant center is calculated from a side view only and from that view, you can not see the triangulation. So with theoretical equal length bars where the uppers are triangulated, the uppers will be longer.