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5 axis
Let draw something by linear itp.  Robot must maintain pen direction to draw line. 4th and 5th motor was added to do it. 

Following formula will maintain pen direction.

           J4 = angG + offset
           J5 = offset - J3
 


 PWM circuit also updated from 9V battery + 3 terminal voltage regulator to junk PC’s power supply unit.

 
 
 
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