Keyestudio 4DOF Manual page 165

//claw
zhuazi();
//turn
zhuandong();
// upper arm
xiaobi();
// lower arm
dabi();
}
//claw
void zhuazi()
{
//claw
if(x2<50) // if push the left joystick to the right
{
pos4=pos4-2; // current angle of servo 4 subtracts 2（change the value you subtract, thus change the closed speed of claw）
//Serial.println(pos4);
myservo4.write(pos4); //servo 4 operates the action, claw is gradually closed
delay(5);
if(pos4<2) // if pos4 value subtracts to 2, the claw in 37 degrees we have tested is closed.）
{ //（should change the value based on the fact）
pos4=2; // stop subtraction when reduce to 2
}
}
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