Keyestudio 4DOF Manual page 252

}
}
//***************************************************************
void zhuazi()
{
// close the claw
if(ps2x.Analog(PSS_LX)>220)
{
pos4=pos4-1;
Serial.println(pos4);
myservo4.write(pos4); // servo 4 carries out the action and the claw is gradually closed.
delay(5);
if(pos4<0) // if pos4 value reduces to 37（the claw we test in 37degrees is closed）
{
pos4=0;
}
}
// open the claw
if(ps2x.Analog(PSS_LX)<10)
{
pos4=pos4+8;
Serial.println(pos4);
myservo4.write(pos4);
delay(5);
if(pos4>108) // limit the maximum angle opened
{
// if push the left joystick to the right
// if push the left joystick to the left
// servo 4 carries out the action and the claw is gradually opened
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