Weird servo gripper behaviour

Using Arduino Programming Questions
1

Hello,
for my current project i need a servo gripper. I have build a strong gripper using some 3d prints and a rc servo from Amazon.
I'm using a Esp32 and a breadboard 5V power supply.
The mechanical system seems to work just fine. However I have problems programming it.
My goals for the gripper:
-grip as hard on the object, object should be of varying size
-return to a "normal" position, which is the open position

Here's a video of it using the code i wrote: https://youtube.com/shorts/QC1ttSWhqTU?feature=share

And here's the code:

#include <ESP32Servo.h>

Servo gripperServo;  // Create a Servo object

const int gripperPin = 25;       // Pin connected to the servo signal wire
const int openAngle = -250;         // Angle to fully open the gripper
const int closeAngle = 10;      // Angle to fully close the gripper
const int holdTime = 2000;       // Time in milliseconds to hold the position
const int minPulseWidth = 500;   // Minimum pulse width in microseconds
const int maxPulseWidth = 2500;  // Maximum pulse width in microseconds
int pos;

// Define min and max pulse widths

void setup() {
  // Attach the servo on pin 13 to the servo object with min and max pulse widths
  gripperServo.attach(gripperPin, minPulseWidth, maxPulseWidth);
  gripperServo.write(0);
}

void loop() {
  // Open the gripper as far as possible and hold for a few seconds
  gripperServo.write(openAngle);
  delay(holdTime);

  // Close the gripper as far as possible and hold for a few seconds
  gripperServo.write(closeAngle);
  delay(holdTime);

  // Repeat the cycle
}

Does anyone have an idea on how to tackle my problem and help me?
Thanks

2

aren't the argument to write() pulse widths from 500 to 2500, not angles

3

Ok, should i then map the angles to the pulse width?

4

yes

5

The servo library write function takes angles. If you use values larger than 500 then it will take them as pulse widths.

Using either is acceptable.

6

Here quoted from the link you provided. Did you read that before you posted it?

 void write () - Sets the servo angle in degrees; a value below 500 is
 treated as a value in degrees (0 to 180). These limit are enforced,
 i.e., values are treated as follows:
 Value                                   Becomes
 -----                                   -------
 < 0                                        0
 0 - 180                             value (treated as degrees)
 181 - 499                                 180
 500 - (min-1)                             min
 min-max (from attach or default)    value (treated as microseconds)
 (max+1) - 2500                            max
7

Thanks to all of you. Yeah, solved the problem. I just had to bring the servo to its 0° position and reassemble the gripper