Untitled

//13.3.2025. PROBA GRIPERA
#include <Servo.h>

#define lowerLeft 2
#define upperLeft 3
#define upperRight 4
#define lowerRight 5

Servo ll;
Servo ul;
Servo ur;
Servo lr;

String position;
bool positionUpper = false;
bool positionLower = false;

void setup() {
  ll.attach(2);
  ul.attach(3);
  ur.attach(4);
  lr.attach(5);
  Serial.begin(9600);
  Serial.println("radi");
  //ll.write(0);
  //ul.write(0);
  //ur.write(0);
  //lr.write(0);
}

void loop() {
  
  if (Serial.available() > 0) {
    position = Serial.readStringUntil('\n');
    Serial.println(position);
    if (position == "upper") {
      positionUpper = !positionUpper;
      if (positionUpper) {
        ul.write(0);
        ur.write(110);
      } 
      else {
        ul.write(110);
        ur.write(0);
      }
    }
    if (position == "lower") {
      positionLower = !positionLower;
      if (positionLower) {
        ll.write(0);
        lr.write(180);
      } 
      else {
        ll.write(110);
        lr.write(0);
      }
    }
  }
}