#include <Servo.h> //Includes servo library

Servo finger1, finger2, finger3, finger4, finger5;

int servoPin1 = 9;
int servoPin2 = 8;
int servoPin3 = 7;
int servoPin4 = 6;
int servoPin5 = 5;

int flexPin1 = A0;
int flexPin2 = A1;
int flexPin3 = A2;
int flexPin4 = A3;
int flexPin5 = A4;

void setup()
{
 finger1.attach(servoPin1);
 finger2.attach(servoPin2);
 finger3.attach(servoPin3);
 finger4.attach(servoPin4);
 finger5.attach(servoPin5);

 pinMode(servoPin1, OUTPUT);
 pinMode(servoPin2, OUTPUT);
 pinMode(servoPin3, OUTPUT);
 pinMode(servoPin4, OUTPUT);
 pinMode(servoPin5, OUTPUT);

 pinMode(flexPin1, INPUT);
 pinMode(flexPin2, INPUT);
 pinMode(flexPin3, INPUT);
 pinMode(flexPin4, INPUT);
 pinMode(flexPin5, INPUT);

}

void loop()
{
 //Defines analog input variables
 int flex1 = analogRead(flexPin1);
 int flex2 = analogRead(flexPin2);
 int flex3 = analogRead(flexPin3);
 int flex4 = analogRead(flexPin4);
 int flex5 = analogRead(flexPin5);

 /* Defines “pos” variables as being proportional to the flex inputs.
 The 400 to 700 value range seemed adequate for my sensors, but you can change
 yours accordingly. */
 int pos1 = map(flex1, 400, 700, 0, 30);
 pos1 = constrain(pos1, 0, 180);
 int pos2 = map(flex2, 400, 700, 0, 30);
 pos2 = constrain(pos2, 0, 180);
 int pos3 = map(flex3, 400, 700, 0, 30);
 pos3 = constrain(pos3, 0, 180);
 int pos4 = map(flex4, 400, 700, 0, 30);
 pos4 = constrain(pos4, 0, 180);
 int pos5 = map(flex5, 400, 700, 0, 30);
 pos5 = constrain(pos5, 0, 180);

 //Tells servos to move by the amount specified in the “pos” variables
 finger1.write(pos1);
 finger2.write(pos2);
 finger3.write(pos3);
 finger4.write(pos4);
 finger5.write(pos5);
}