## Project 2: Joint Rotation and Pin Control

**Joint Rotation and Servo Angle Settings**

|       **Name**       |                    **0°**                     |          **180°**          |
| :------------------: | :-------------------------------------------: | :------------------------: |
| Servo1（base plate） |          Rotate toward the rightmost          | Rotate toward the leftmost |
| Servo2（left side）  | Rocker arm connected to Servo 2 stretches out |         draw back          |
| Servo3（right side） |  Rocker arm connected to Servo 3 draws back   |        stretch out         |
| Servo4（clamp claw） |                     close                     |            open            |

**Pin Control**

|        **Name**        | **IO Pin** |
| :--------------------: | :--------: |
|  Servo 1 (base plate)  |     A1     |
|  Servo 2 (left side)   |     A0     |
|  Servo 3 (right side)  |     8      |
|  Servo 4 (clamp claw)  |     9      |
|    Right Joystick X    |     A2     |
|    Right Joystick Y    |     A5     |
| Right Joystick Z (key) |     7      |
|    Left Joystick X     |     A3     |
|    Left Joystick Y     |     A4     |
|    Left Joystick Z     |     6      |
|     D1/DAT of PS2      |     12     |
|     D0/CMD of PS2      |     11     |
|     CE/SEL of PS2      |     10     |
|       CLK of PS2       |     13     |