Table 1 Planner thrusters’ operation modes
From: Design and development of Spaiser remotely operated vehicle
FR | FL | RR | RL | Motion |
|---|---|---|---|---|
F | F | F | F | +ve X (Forward) |
B | B | B | B | −ve X (Backward) |
B | F | F | B | −ve Y (Right) |
F | B | B | F | +ve Y (Left) |
F | B | F | B | Rot Z CCW |
B | F | B | F | Rot Z CW |