Separate Gripper Control Scripts

Yes - it’s better to split this into two separate scripts, one for the right gripper and one for the left gripper. That keeps each gripper independent and easier to debug.

A couple of important fixes first:

• ADC.get() should read the analog sensor port only
• For the lever switch, if it’s a digital switch, you should use Digital.get() instead of ADC.get()
• If the servo is supposed to keep holding the object, you generally do not release the servo after closing
• For slow closing, set the servo speed before moving it

Right Gripper Script

var rightGripperServo = v9;
var rightIr = ADC1;
var rightLever = d6; // change to your actual digital port for the lever switch
var closeSpeed = 10; // 0 = fastest, 10 = slowest

function closeRightGripperOnIR() {
  print("Right gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(rightIr, 35);
    print("Right IR detected object. Closing gripper...");

    Servo.setSpeed(rightGripperServo, closeSpeed);
    Servo.setPosition(rightGripperServo, 1);

    while (Digital.get(rightLever) == false) {
      sleep(20);
    }

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

closeRightGripperOnIR();

Left Gripper Script

var leftGripperServo = v25;
var leftIr = ADC2;
var leftLever = d7; // change to your actual digital port for the lever switch
var closeSpeed = 10; // 0 = fastest, 10 = slowest

function closeLeftGripperOnIR() {
  print("Left gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(leftIr, 35);
    print("Left IR detected object. Closing gripper...");

    Servo.setSpeed(leftGripperServo, closeSpeed);
    Servo.setPosition(leftGripperServo, 1);

    while (Digital.get(leftLever) == false) {
      sleep(20);
    }

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

closeLeftGripperOnIR();

Notes

• I changed your lever inputs from ADC6 / ADC7 to digital ports because a lever switch is typically an on/off input.
• If your lever switch is actually wired as an analog input, tell me and I’ll adjust the script.
• Your script uses v25 for the left gripper servo. That’s fine if it’s a virtual servo port from a servo skill. If it is a physical EZ-B servo port, that would need to be changed.

Open / Release behavior

You mentioned:

The gripper will continue to hold the object until told to release it.

That usually means you want a separate release script for each gripper. For example:

var rightGripperServo = v9;

Servo.setSpeed(rightGripperServo, 10);
Servo.setPosition(rightGripperServo, 180); // change to your open position
sleep(500);

and similarly for the left gripper.

Best ARC setup

If you’re using speech recognition in ARC:

1. Add a Speech Recognition skill
2. In its script for phrases like:
   • "open right gripper"
   • "open left gripper"
   • "release right gripper"
   • "release left gripper"
3. Put the corresponding open/release script in each phrase action

If you want, I can help you make this into a cleaner structure with:

• one reusable function
• separate open / close / release commands
• speech phrases wired into ARC properly

If you share:

• which digital ports the lever switches are actually on
• the open and closed servo positions
• whether v9 and v25 are definitely virtual servo ports

I can tailor the scripts exactly to your grippers.