#include <Servo.h>

Servo YawServo; // creates a servo object
Servo PitchServo;
Servo WristServo;
Servo ClawServo;

int yaw = A1;
int pitch = A2;
int wrist = A3;
int claw = A4;
int Y;
int P;
int W;
int C;

void setup() {
  YawServo.attach(9);
  PitchServo.attach(3);
  WristServo.attach(5);
  ClawServo.attach(6);
}

void loop() {
  Y = analogRead(yaw);
  P = analogRead(pitch);
  W = analogRead(wrist);
  C = analogRead(claw);
  Y = map(Y, 0, 1023, 0, 180);
  P = map(P, 0, 1023, 0, 180);
  W = map(W, 0, 1023, 0, 180);
  C = map(C, 0, 1023, 0, 180);
  YawServo.write(Y);
  delay(15);
  PitchServo.write(P);
  delay(15);
  WristServo.write(W);
  delay(15);
  ClawServo.write(C);
  delay(15);
}