Example 11 Recording Values
===========================
.. image:: ../tutorial/advanced1.gif
    :alt: not found
    :align: center
What does this code do?
-----------------------
This code, the robot records where the servo and motor positions are. Then it calculates the difference between the arm and the servo.
Finally it outputs all the recorded values.

Functions Used
--------------
variable = (any word)

enable_servo( servo port)

print(inputted message)

return(variable)

read_servo_position( servo port)

set_servo_position_and_print(servo port, position from 1 to 500)


Function Implementation
***********************

.. code-block:: python
   :linenos:

    #!/usr/bin/python3
    import os, sys
    sys.path.append("/usr/lib")
    from kipr import *

    L = 3
    R = 0

    grey_value = 1700
    arm = 0
    claw = 3

    enable_servo(claw)
    enable_servo(arm)

    def read_servo_position(port):
        position = get_servo_position(port)
        print("Servo position at port", port, "is:", position)
        return position

    read_servo_position(arm)  # Read the servo position at port 1

    def set_servo_position_and_print(port, position):
        set_servo_position(port, position)
        print("Set servo position at port", port, "to:", position)

    set_servo_position_and_print(arm, 500)  # Set the servo position at port 1 to 500

    def calculate_position_difference(port, target_position):
        start_position = get_servo_position(port)
        position_difference = target_position - start_position
        print("Start position:", start_position, "Target position:", target_position, "Difference:", position_difference)
        return start_position, position_difference

    calculate_position_difference(arm, 1000)  # Calculate difference to move servo from current position to 1000

    def calculate_position_modifier(start_time, speed):
        time_elapsed = seconds() - start_time
        position_modifier = time_elapsed / speed
        print("Time elapsed:", time_elapsed, "Position modifier:", position_modifier)
        return position_modifier

    calculate_position_modifier(seconds(), 2)  # Calculate position modifier over 2 seconds

    def move_servo_smoothly(port, target_position, speed):
        start_time = seconds()
        start_position, position_difference = calculate_position_difference(port, target_position)

        while seconds() - start_time < speed:
            position_modifier = calculate_position_modifier(start_time, speed)
            new_position = int(start_position + (position_difference * position_modifier))
            set_servo_position_and_print(port, new_position)

        set_servo_position_and_print(port, target_position)
        msleep(50)