Arm-Code-Arduino

Servo servo1; Servo servo2; Servo servo3; Servo servo4;

int bot1 = A1; int bot2 = A2; int bot3 = A3; int bot4 = A4;

int valPot1 = 120; int valPot2 = 40; int valPot3 = 60; int valPot4 = 0;

bool isFirstIteration = true;

void setup() { Serial.begin(9600); servo1.attach(3); servo2.attach(5); servo3.attach(6); servo4.attach(9);

servo1.write(valPot1); servo2.write(valPot2); servo3.write(valPot3); servo4.write(valPot4); }

void setServoValue(String potName, int& pot, int& potVal, Servo servo, int min, int max, bool isMoveSlowly) { int analogVal = analogRead(pot);
analogVal = map(analogVal, 0, 1023, 0, 180); //Serial.print(" "); //Serial.print(analogVal);

if(analogVal < min) analogVal = min;

if(analogVal > max) analogVal = max;

if(isMoveSlowly) { if(analogVal > potVal) potVal++; else if(analogVal < potVal) potVal--;

servo.write(potVal);
delay (10);    

} else { servo.write(analogVal); delay (70); }

Serial.print(" " + potName + " "); Serial.print(potVal); }

void loop() {

if(isFirstIteration) { delay(2000); isFirstIteration = false; }

setServoValue("bot1", bot1, valPot1, servo1, 85, 130, true); setServoValue("bot2", bot2, valPot2, servo2, 00, 60, true); setServoValue("bot3", bot3, valPot3, servo3, 0, 180, true); setServoValue("bot4", bot4, valPot4, servo4, 0, 120, false); Serial.println();

}