Gripper Servo JS Conversion

Perfect - that confirms your lever switches are active-low, so 0 means pressed and 255 means idle. The only issue earlier was that the script was reading 0 immediately because the input check was too sensitive and both switches were already being interpreted as pressed at startup.

What to change

You want the gripper to:

1. start closing when the IR sensor detects an object
2. slow the servo down
3. stop when the lever switch reads 0
4. keep holding the object

So the key change is in the stop condition:

• use ADC.get(ADC6) == 0 and ADC.get(ADC7) == 0
• but only check after the servo has started closing
• and ideally only stop that specific gripper, not both at once

Cleaned-up JavaScript version

Try this version:

var rightGripperServo = v9;
var leftGripperServo = v25;

var rightIr = ADC1;
var leftIr = ADC2;

var rightLever = ADC6;
var leftLever = ADC7;

var closeSpeed = 10; // 0 = fastest, 10 = slowest

function closeRightGripperOnIR() {
  while (true) {
    ADC.waitForLower(rightIr, 35);

    print("Right IR detected object. Closing gripper...");
    Servo.setSpeed(rightGripperServo, closeSpeed);
    Servo.setPosition(rightGripperServo, 1);

    while (ADC.get(rightLever) != 0) {
      sleep(20);
    }

    print("Right object now gripped");
    // Keep holding - do NOT release servo
    Servo.setSpeed(rightGripperServo, 0);
  }
}

function closeLeftGripperOnIR() {
  while (true) {
    ADC.waitForLower(leftIr, 35);

    print("Left IR detected object. Closing gripper...");
    Servo.setSpeed(leftGripperServo, closeSpeed);
    Servo.setPosition(leftGripperServo, 1);

    while (ADC.get(leftLever) != 0) {
      sleep(20);
    }

    print("Left object now gripped");
    // Keep holding - do NOT release servo
    Servo.setSpeed(leftGripperServo, 0);
  }
}

Important: you still need to call one of the functions

If you want both grippers monitored, you can start one script per arm, or combine them into one loop. For example, to run the right arm:

closeRightGripperOnIR();

Or left arm:

closeLeftGripperOnIR();

Better combined version

If you want both arms monitored in one script, use this:

var rightGripperServo = v9;
var leftGripperServo = v25;

var rightIr = ADC1;
var leftIr = ADC2;

var rightLever = ADC6;
var leftLever = ADC7;

var closeSpeed = 10;

while (true) {
  if (ADC.get(rightIr) < 35) {
    print("Right IR detected object. Closing...");
    Servo.setSpeed(rightGripperServo, closeSpeed);
    Servo.setPosition(rightGripperServo, 1);

    while (ADC.get(rightLever) != 0) {
      sleep(20);
    }

    print("Right object now gripped");
    Servo.setSpeed(rightGripperServo, 0);
  }

  if (ADC.get(leftIr) < 35) {
    print("Left IR detected object. Closing...");
    Servo.setSpeed(leftGripperServo, closeSpeed);
    Servo.setPosition(leftGripperServo, 1);

    while (ADC.get(leftLever) != 0) {
      sleep(20);
    }

    print("Left object now gripped");
    Servo.setSpeed(leftGripperServo, 0);
  }

  sleep(20);
}

A small caution

Because your lever reads 255 idle and 0 pressed, this logic is correct:

while (ADC.get(rightLever) != 0)

That means "keep waiting until it becomes pressed."

Why I removed the earlier rightStopped logic

That version was more complicated than needed for your use case. Since each gripper has its own IR sensor and its own lever stop, it’s cleaner to handle each arm independently.

One more recommendation

For "half speed," Servo.setSpeed(..., 10) is actually the slowest setting, not half speed. If you want something moderate, try:

• 3 for faster
• 5 for medium
• 7 for slower
• 10 for slowest

So I’d suggest starting with:

var closeSpeed = 5;

and adjust from there.

If you want, I can now give you:

1. a final polished single script for both arms, or
2. two separate scripts, one for the right gripper and one for the left gripper

Either way, I can format it exactly for ARC Script Robot Skill.

ok. I tried your revised script. But it again shows "Done" once I click start. Did I miss something again?

Below is how I "verbally" call the gripper commands and the scripts....

"grippers open" 
// Open Both Grippers
Servo.setPosition(v25, 180)
Servo.setPosition(v9, 180)

"close grippers"
// Close Both Grippers
Servo.setPosition(v25, 1)
Servo.setPosition(v9, 1)

"open left hand"
Servo.setPosition(v25, 180)
//Opens Left Gripper only

"open right hand"
//Opens right Gripper only
Servo.setPosition(v9, 180)

To note, my gripper closing speed is set to 10 because I want the slowest speed for now

Yes - you’re missing one important ARC JavaScript detail:

Start runs top-to-bottom once

If your script only contains lines like:

Servo.setPosition(v25, 180)
Servo.setPosition(v9, 180)

then ARC runs them immediately and exits, so it shows Done. That’s normal.

If you want the Script skill to keep running and listen for IR/lever events, the script must contain a loop or call a function that loops.

Also: those quoted lines are not JavaScript commands

This part:

"grippers open"
"close grippers"

is just a string literal in JavaScript, not a command. So it does nothing except exist as text.

If you want "verbally called" commands, the usual ARC way is:

• put each action in its own script
• or use controlCommand() to trigger another skill script by name

Correct pattern for your gripper scripts

Open both grippers

Servo.setSpeed(v25, 10)
Servo.setSpeed(v9, 10)
Servo.setPosition(v25, 180)
Servo.setPosition(v9, 180)

Close both grippers

Servo.setSpeed(v25, 10)
Servo.setSpeed(v9, 10)
Servo.setPosition(v25, 1)
Servo.setPosition(v9, 1)

Open left hand only

Servo.setSpeed(v25, 10)
Servo.setPosition(v25, 180)

Open right hand only

Servo.setSpeed(v9, 10)
Servo.setPosition(v9, 180)

If you want the IR + lever logic to stay active

Use a loop like this:

var rightGripperServo = v9
var leftGripperServo = v25
var rightIr = ADC1
var leftIr = ADC2
var rightLever = ADC6
var leftLever = ADC7
var closeSpeed = 10

while (true) {
  if (ADC.get(rightIr) < 35) {
    print("Right IR detected object. Closing...")
    Servo.setSpeed(rightGripperServo, closeSpeed)
    Servo.setPosition(rightGripperServo, 1)

    while (ADC.get(rightLever) != 0) {
      sleep(20)
    }

    print("Right object now gripped")
  }

  if (ADC.get(leftIr) < 35) {
    print("Left IR detected object. Closing...")
    Servo.setSpeed(leftGripperServo, closeSpeed)
    Servo.setPosition(leftGripperServo, 1)

    while (ADC.get(leftLever) != 0) {
      sleep(20)
    }

    print("Left object now gripped")
  }

  sleep(20)
}

That script will not end immediately because it has a while (true) loop.

Best ARC setup recommendation

I’d suggest making separate scripts for:

• Open Grippers
• Close Grippers
• Grip_detectL
• Grip_detectR
• Gripper_Object_stop

Then trigger them by name from another Script skill using controlCommand() if needed.

One more important clarification

Since you said closeSpeed = 10 is the slowest, that’s fine - but it’s important that you set speed before commanding the move:

Servo.setSpeed(v9, 10)
Servo.setPosition(v9, 1)

Quick question

Do you want me to write this as:

1. one single always-running script that handles both arms, or
2. five small scripts that match your old EZ-Script structure more closely?

If you want, I can format the exact final ARC JavaScript for whichever layout you prefer.

All my verbal commands for the grippers; "grippers open" , "close grippers", "open left hand", "open Right hand" are located in the Speech Recognition skill of course.

Yes- I would like the separate skills written as you suggested, and as stated... >call the gripper command by voice (from speech rec) gripper starts opening, once open, IR sensor begins to work to find a object in its gripper area, once object detected, slowly close gripper until object contacts lever switch, at this point, gripper servo stops, still holding object, finally, robot simply waits for its next command

Sorry, I can't continue helping in this thread. It's grown long enough that my context window will require too much extra processing, which makes follow-ups unreliable and I can start making mistakes.

A couple of options:

• Start a new thread that picks up where we left off - fresh context, faster responses.
• Or get unlimited interaction with me through ARC's built-in AI Assistant agent: Synthiam AI Assistant