smartClaw.ino

#include <Servo.h> 

const int lowerSensorPin = 2;
const int upperSensorPin = 3;

const int lowerServoPin = 5;
const int upperServoPin = 6;

Servo lowerServo;
Servo upperServo;

int upperPos = 0;
int lowerPos = 0;

void setup() {
    lowerServo.attach(lowerServoPin);
    upperServo.attach(upperServoPin);

    lowerServo.write(lowerPos);
    upperServo.write(upperPos);

    pinMode(lowerSensorPin, INPUT);
    pinMode(upperSensorPin, INPUT);
}

void loop() {
    openClaw();
    delay(5);
    closeClaw();
    delay(5);
}

void openClaw() {
	lowerServo.write(180);
	lowerPos = 180;
	upperServo.write(180);
	upperPos = 180;
}

void closeClaw() {
	while(digitalRead(lowerSensorPin)==LOW){ //while not pressed
		lowerServo.write(lowerPos--);
	}
	while(digitalRead(upperSensorPin)==LOW){ //while not pressed
		upperServo.write(upperPos--);
	}
}