Keyestudio 4DOF Manual page 196

}
}
}
//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; // angle of servo 4, subtract 2 (change the value you subtract, thus change the closed speed of claw)
//Serial.println(pos4);
myservo4.write(pos4); // servo 4 operates the motion and 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.）
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