Keyestudio 4DOF Manual page 270

pos4=pos4-1;
Serial.println(pos4);
myservo4.write(pos4); // servo 4 carries out the action and claw is gradually closed
delay(5);
if(pos4<0) // if pos4 value subtracts to 37, the claw in 37 degrees we have tested 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
{
pos4=108;
}
}
}
//*********************************************************
void dabi()
{
// lower arm front
// if push the left joystick to the left
// servo 4 carries out the action and claw is gradually opened
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