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--- specifications:frame_of_reference [2015/10/07 15:36]
Guvalif
+++ specifications:frame_of_reference [2021/04/01 13:51] (current)
@@ Line 3: / Line 3: @@
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-Translate me.
+## Basic Definitions
+Reference coordinates for servo motors is defined below.
+- A normal vector which extends from the side of adding a gear, is defined as a negative vector of y axis.
+- Rotation direction for a positive vector of y axis, is subject to the right-hand rule.
+An angle of a servo that is controllable by PWM, is defined below.
+- Range of movement is defined as differences between an angle when input min PWM and an angle when input max PWM.
+- The neutral angle of range of movement, is defined as 0 [deg].
+## Specifications Each PLEN's Servos Have
+- **PLEN1.4**
+  Rotate clockwise by increasing PWM width.
+- **PLEN2**
+  Rotate counter clockwise by increasing PWM width.
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