Example 12 Recording Values While Using The Claw
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.. image:: ../tutorial/code12.gif
    :alt: not found
    :align: center

What does this code do?
-----------------------

In this code, the robot moves it's claw down, while recording where the claw is and how much percentof the code is done.

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 get_current_time():
        return seconds()

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

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

    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

    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

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

        while get_current_time() - 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)  # Add a short delay

    move_servo_smoothly(arm, 2000, 2)  # Move servo smoothly to position 1000 over 2 seconds

    def slow_servo(port, position, speed):
        start_time = seconds()
        start_position = get_servo_position(port)
        position_difference = position - start_position
        while seconds() - start_time < speed:
            position_modifier = (seconds() - start_time) / speed
            print("Percent =", (seconds() - start_time) / speed)
            set_servo_position(port, int(start_position + (position_difference * position_modifier)))
        set_servo_position(port, position)
        msleep(50)

    slow_servo(arm, 1000, 2)  # Execute the complete slow servo function