Phelm'arm​

#include <Servo.h>

Servo servothumb;          // Define thumb servo
Servo servoindex;          // Define index servo
Servo servomajeure;
Servo servoringfinger;
Servo servopinky;
Servo servowrist;
Servo servobiceps;
Servo servorotate;
Servo servoshoulder;
Servo servoomoplat;
Servo servoneck;
Servo servorothead;



int E0 = A0;
int Vs;
boolean etat = false;


// Motion to set the servo into "virtual" 0 position: alltovirtual
void alltovirtual() {
  servothumb.write(0);
  servoindex.write(0);
  servomajeure.write(0);
  servoringfinger.write(0);
  servopinky.write(0);
  servowrist.write(0);
  servobiceps.write(0);
  servorotate.write(20);    //Never less then (20 degree)
  servoshoulder.write(30);  //Never less then (30 degree)
  servoomoplat.write(10);   //Never less then (10 degree)
  servoneck.write(0);
  servorothead.write(0);
}

// Motion to set the servo into "rest" position: alltorest
void alltorest() {
  servothumb.write(0);
  servoindex.write(0);
  servomajeure.write(0);
  servoringfinger.write(0);
  servopinky.write(0);
  servowrist.write(0);
  servobiceps.write(0);
  servorotate.write(90);    //Never less then (20 degree)
  servoshoulder.write(30);  //Never less then (30 degree)
  servoomoplat.write(10);   //Never less then (10 degree)
  servoneck.write(90);
  servorothead.write(90);
}



// Motion to set the servo into "max" position: alltomax
void alltomax() {
  servothumb.write(90);
  servoindex.write(120);
  servomajeure.write(120);
  servoringfinger.write(120);
  servopinky.write(90);
  servowrist.write(180);
  servobiceps.write(85);      //Never more then (85 or 90degree)
  servorotate.write(110);     //Never more then (110 degree)
  servoshoulder.write(130);   //Never more then (130 degree)
  servoomoplat.write(70);     //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}


void setup() {
  servothumb.attach(2);  // Set thumb servo to digital pin 2
  servoindex.attach(3);  // Set index servo to digital pin 3
  servomajeure.attach(4);
  servoringfinger.attach(5);
  servopinky.attach(6);
  servowrist.attach(7);
  servobiceps.attach(8);
  servorotate.attach(9);
  servoshoulder.attach(10);
  servoomoplat.attach(11);
  servoneck.attach(12);
  servorothead.attach(13);
}


void loop() {            // Loop through motion tests
//  alltovirtual();        // Example: alltovirtual
//  delay(4000);           // Wait 4000 milliseconds (4 seconds)

    alltovirtual();
//    delay(5000);
//    alltomax();
//    delay(5000);
   Vs = analogRead(E0);

   if (Vs>800)
 {
  if (etat==false)
  {
     alltomax();
     etat=true;
  }
    else
  {
     alltorest();
     etat=false;
  }
  delay(2000);
  }

 }