LEGO SPIKE Prime Teachable Robotic Arm

This LEGO SPIKE Prime robot arm can be programmed manualy by teaching its different positions. You move the motors by hand to each position and save that position in a list. When you have finished the teaching, you start his program and the robot arm goes through that list and moves the motors to the saved positions. Unfortunately I had to break this robot apart (to give a workshop), before I could optimize the motor position control... :-( Note: the LEGO SPIKE Prime 45678 set is the educational version o