Keyestudio 4DOF Manual page 251

}
//**********************************************************************
// upper arm
void xiaobi()
{
//upper arm front
if(ps2x.Analog(PSS_RY)<50) // if push the right joystick upward
{
pos2=pos2-1;
myservo2.write(pos2);
delay(5);
if(pos2<0) // limit the lifting angle
{
pos2=0;
}
}
// upper arm back
if(ps2x.Analog(PSS_RY)>200)
{
pos2=pos2+1;
myservo2.write(pos2);
delay(5);
if(pos2>180) // limit the declining angle
{
pos2=180;
}
// the upper arm will lift up
//if push the right joystick downward
// the upper arm will go down
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