     
     wrist.writeMicroseconds(wristPulse);
     
-    // for claw want to open/close base on stick, but then hold position
+    // for claw want to open/close base on stick, but then hold position; so increment/decrement depending on position
+    // and then keep that value if joystick centered
     if (clawPulse < clawMinDeadspaceLimit){
       clawAngle -= 1; 
     }

int clawAngle = 85;
int clawMinDeadspaceLimit = 1400; // threshold for closing claw; want dead zone in center
int clawMaxDeadspaceLimit = 1600; // threshold for opening claw
const int minClawAngle = 35; // limit travel to protect servo
const int maxClawAngle = 135;

void setup() {
  attachInterrupt(0, readWristInterrupt, CHANGE);  // pin 3 on Romeo  __ signal for wrist
  attachInterrupt(1, readClawInterrupt, CHANGE);  // pin 2            __ signal for claw
  wrist.attach(WristPin);
  claw.attach(ClawPin);
  wrist.write(90); // starting position


*/


#include <Servo.h>

Servo wrist;
Servo claw;

const int WristInterrupt = 3; // interrupt 0 is on pin 3 for wrist (throttle on receiver)
const int ClawInterrupt = 2; 
// interrupt 1 is on pin 2 for claw (rudder on receiver)
const int WristPin = 12;
const int ClawPin = 13;

