Reading angles from servo on Swift arm

Is there is a way how can i read the angles of the swift arm ??

i found the way , to get the feedback from the servo’s . i am not able to understand its units ,Can anyone help with that ?. it is not in volts for sure . The feedback is in the range 500’s depending upon the angular positions.

Now at the minimum angle i.e 0 of the servo the reading is around 80 for all the servo’s ? isnt it supposed to be 0 ?
Does the arm needs calibration?

The max value of base motor and EOF motor is 180 but the feedback is 591 ,452 . why are they different ? because of different sizes ?