Keyestudio ESP32 Manual page 140

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if
(armAngle <=
delay(10);
}
}
}
//control forearm
void
forearmControl() {
if
(right_Y_data <
while
(analogRead(right_Y)
forearm.write(forearmAngle++);
if
(forearmAngle
delay(10);
}
} else if (right_Y_data
while (analogRead(right_Y)
forearm.write(forearmAngle--);
if
(forearmAngle
delay(10);
}
}
}
//control claw
void gripperControl() {
if (right_X_data >
while (analogRead(right_X)
gripper.write(gripperAngle++);
if (gripperAngle
delay(10);
// gripper.write(180);
}
else if
} (right_X_data
while
(analogRead(right_X)
// gripper.write(80);
gripper.write(gripperAngle--);
if (gripperAngle
delay(10);
}
}
}
136
80) armAngle = 80;
20) {
< 20) {
>= 120) forearmAngle
> 3000) {
> 3000) {
<= 30) forearmAngle
3000) {
> 3000) {
>= 150) gripperAngle
< 20) {
< 20) {
<= 90) gripperAngle
= 120;
= 30;
= 150;
= 90;
Chapter 9. 9. Robot Arm Projects
(continued from previous page)