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//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.）
{
//（should change the value based on the fact）
pos4=2;
//stop subtraction when reduce to 2
}
}
if(x2>1000) ////if push the left joystick to the left
{
pos4=pos4+8; //current angle of servo 4 plus 8（change the value you plus, thus change the
open speed of claw）
//Serial.println(pos4);
myservo4.write(pos4); // servo 4 operates the action, claw gradually opens.
delay(5);
if(pos4>90) //limit the largest angle opened
153
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