#include <Servo.h>

Servo base;               //Declare the base to a servo, potentiometer, the digital pin for the pwm, and the value for translation
const int basepot =A0;
const int basepin = 9;
int basevalue;

Servo elbow;              //Declare the elbow to a servo, potentiometer, the digital pin for the pwm, and the value for translation
const int elbowpot =A1;
const int elbowpin = 3;
int elbowvalue;

Servo pivot;              //Declare the pivot to a servo, potentiometer, the digital pin for the pwm, and the value for translation
const int pivotpot = A2;
const int pivotpin = 5;
int pivotvalue;

Servo grip;               //Declare the gripper to a servo, potentiometer, the digital pin for the pwm, and the value for translation
const int grippot = A3;
const int grippin = 6;
int gripvalue;

void setup() {
  //attach the servos into the pins assigned
  base.attach(basepin); 
  elbow.attach(elbowpin);
  pivot.attach(pivotpin);
  grip.attach(grippin);

}

void loop() {
  //upon translating potentiometer value into a value that the servo can read, the servo will write the value
  basevalue = analogRead(basepot); 
  basevalue = map(basevalue, 0, 1023, 0, 180);
  base.write(basevalue);

  elbowvalue = analogRead(elbowpot); 
  elbowvalue = map(elbowvalue, 0, 1023, 0, 180);
  elbow.write(elbowvalue);
  
  pivotvalue = analogRead(pivotpot);
  pivotvalue = map(pivotvalue, 0, 1023, 0, 180);
  pivot.write(pivotvalue);

  gripvalue = analogRead(grippot);
  gripvalue = map(gripvalue, 0, 1023, 0, 180);
  grip.write(gripvalue);

  delay(5);

}