robot arm pick and place full code

#include <Servo.h>
Servo claw;
Servo pivot;
Servo upperPivot;
Servo clawRotator;
Servo base;
bool flag=0;
bool trigger;


void setup() {
  pivot.attach(5);
  claw.attach(5);
  clawRotator.attach(3);
  upperPivot.attach(11);
  base.attach(9);
  demo();
  flag= true;            //use this flag to run the function once. same flag used in switch case

}

//this is necessary for the siwtch case function to work
enum state{Default, pickObject, dropObject};
int currentState = Default;


void loop() {

}
//NOTE: kindly keep the order of functions the same. otherwise you might get "function not declared in this scope" Error.


/////////////////////////MOVEMENT FUNCTIONS//////////////////////////////////


  void openClaw(){              //the for loop is to move the claw or any other part of the arm slowly
   for(int i=30; i<=90; i++){
   claw.write(i);   //30
   delay(20);
   }
  }
  void closeClaw(){
   for(int i=90; i>=30; i--){
    claw.write(i);
    delay(20);
  }
  }
  void movePivotToDefault(){          //moves pivot servo to default position
    for(int i=40; i<=100; i++){
      pivot.write(i);   //30
      delay(20);
      }
  }
  void movePivotToPick() {                //move pivot to a position where it can pick things up.
    for(int i=100; i>=10; i--){
      pivot.write(i);   //30
      delay(20);
      }
  }
  void moveUpperPivotToDefault(){
    for(int i=140; i>=40; i--){
      upperPivot.write(i);   //30
      delay(20);
      }
  }
  void moveUpperPivotToPick() {    //can be used for drop as well
    for(int i=40; i<=140; i++){
      upperPivot.write(i);   //140
      delay(20);
      }
  }
  void moveClawRotatorToVertical(){
     for(int i=90; i<=180; i++){
      clawRotator.write(i);   //140
      delay(15);
      }
  }
  void moveClawRotatorToHorizontal(){
     for(int i=180; i>=90; i--){
      clawRotator.write(i);   //140
      delay(20);
      }
  }
  void moveBaseToDefault(){       //always use movebasetodrop function first before using this.
    base.write(180); //move right
    delay(550);
    base.write(90);  //stop base
  }
  void moveBaseToDrop(){      //if base is not moving to drop. try to calibrate it manually first with its claw facing forward
    base.write(0);  //0 is for going left. replace 0 with 180 for going right and and 180 in the next function with zero
    delay(550);
    base.write(90);  //stop base
  }

///////////////////////////////////////////MOVEMENT FUNCTIONS FINISHED/////////////////////////////////

 void defaultFunction() {
      movePivotToDefault();
      moveClawRotatorToVertical();
      closeClaw();
      moveUpperPivotToDefault();
   }

 void pickFunction(){
  moveClawRotatorToHorizontal();
  openClaw();
  moveUpperPivotToPick();
  movePivotToPick();

 }

 void fromDropToDefault(){     //
  closeClaw();
  movePivotToDefault();
  moveUpperPivotToDefault();
 }

 void dropFunction(){

  moveBaseToDrop();
  delay(1000);
  pickFunction();
  openClaw();
  delay(500);
  closeClaw();
 }


////////////////////////////


void armFunction(){
  //if trigger true;
    switch(currentState) {
      case Default:
      if(flag == true){
      Serial.println("triggered");
      currentState = pickObject;
      }
      break;

      case pickObject:
      Serial.println("Picking Object");
      pickFunction();
      currentState = dropObject;

      break;

      case dropObject:
      Serial.println("Dropping Object");
      dropFunction();
      Serial.println("going back to default");
      fromDropToDefault();
      flag = false;
      currentState = Default;
      break;

    }
   }
/////////////////////////////////////////MAIN FUNCTION//////////////////////////////////////////////////////////

//you can use this function in setup if you want to demo the whole working of the arm. you can use the flag technique to
//run this only once when called in loop.
 void demo(){
  defaultFunction();
  delay(1000);
  pickFunction();
  delay(1000);
  fromDropToDefault();
  moveBaseToDrop();
  moveUpperPivotToPick();
  movePivotToPick();
  openClaw();
  fromDropToDefault();
  moveBaseToDefault();

 }