clawexample.ino

#include <Servo.h> 
 
Servo middle, left, right, claw ;  // Creates 4 "servo objects"

#define CLAW_OFF 0
#define CLAW_ON 90

volatile int clawPosition;
volatile bool clawOpen;

int middlePin = A1;  // Middle Pot Analog Input Pin
int leftPin = A2;  // Left Pot Analog Input Pin
int rightPin = A3;  // Right Pot Analog Input Pin
int clawPin = A0;  // Claw Pot Analog Input Pin

int middleValue = 0;  // Middle Pot Value
int leftValue = 0;  // Left Pot Value
int rightValue = 0;  // Right Pot Value
int clawValue = 0;  // Claw Pot Value
/*
void grab() {
  clawOpen = false;
  clawPosition = CLAW_OFF;
  claw.write(clawPosition);
}
void release() {
  clawOpen = true;
  clawPosition = CLAW_ON;
  claw.write(clawPosition);
}
*/
void activateClawInterrupt() {
  if(clawOpen) {
    clawOpen = false;
    clawPosition = CLAW_ON;
    claw.write(clawPosition);
   }
  else if(!clawOpen){
    clawOpen = true;
    clawPosition = CLAW_OFF;
    claw.write(clawPosition);
   }
}

 
void setup() 
{ 
  middle.attach(11);  // attaches the servo on pin 11 to the middle object
  left.attach(10);  // attaches the servo on pin 10 to the left object
  right.attach(9);  // attaches the servo on pin 9 to the right object
  claw.attach(6);  // attaches the servo on pin 6 to the claw object
  attachInterrupt(digitalPinToInterrupt(2), activateClawInterrupt, RISING);
  Serial.begin(9600);
} 
 
void loop() 
{ 
  
  // Read the Pot Values
  middleValue = analogRead(middlePin); //A1 pin 11
  leftValue = analogRead(leftPin); //A2 pin 10
  rightValue = analogRead(rightPin); //A3 and pin 9
  clawValue = analogRead(clawPin); // Interrupt
  
  // Convert to values between 0 and 180 for the servos
  middleValue = map(middleValue, 0, 1023, 0, 180) ; 
  leftValue = map(leftValue, 0, 1023, 0, 180) ; 
  rightValue = map(rightValue, 0, 1023, 0, 180) ; 
  //clawValue = map(clawValue, 0, 1023, 0, 180) ; 
  

  // Write values to servos
  middle.write(middleValue); // Middle servo position
  left.write(leftValue); // Left servo position
  right.write(rightValue); // Right servo position
  //claw.write(clawValue); // Claw servo position

  Serial.print(clawOpen);Serial.print(leftValue); Serial.print(", "); Serial.print(middleValue); Serial.print(", ");
  Serial.println(rightValue);
  
  delay(200); // Short Delay
} 

servocalibration.ino

#include <Servo.h> 
 
Servo middle, left, right, claw ;  // creates 4 "servo objects"
 
void setup() 
{ 
  Serial.begin(9600);
  middle.attach(11);  // attaches the servo on pin 11 to the middle object
  left.attach(10);  // attaches the servo on pin 10 to the left object
  right.attach(9);  // attaches the servo on pin 9 to the right object
  claw.attach(6);  // attaches the servo on pin 6 to the claw object
  //int pos = 0;
} 
 
void loop() 
{ 
  // Callibration
#if 1
  middle.write(90); // sets the servo position according to the value(degrees)
  left.write(90); // does the same
  right.write(90); // and again
  claw.write(25); // yes you've guessed it
  delay(300);
  claw.write(150);
  int pos = 0;
#endif

  // Go through whole motion
#if 0
  claw.write(25);
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    left.write(pos);              // tell servo to go to position in variable 'pos'
    right.write(pos);
    middle.write(pos);
    claw.write(pos);
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  claw.write(150);
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    left.write(pos);              // tell servo to go to position in variable 'pos'
    right.write(pos);
    middle.write(pos);
    claw.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
#endif

  delay(300); // doesn't constantly update the servos which can fry them
}