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