Arduino Arm

I am new to building robots and I decided to attempt a project that would be challenging, ultimately I decided this chellenge would best come from a robotic arm. The main design consists of two continuous rotation servos and two regular servos. The frame is made out of paint stir sticks and the base, 2x4's. Although I am proud of how I built the robot, the pride and joy of my design has to be the claw. I bent a peice of card stock to the desired shape and hot glued a spring from a pen to keep the two sides of the paper seperated. I then tied two peices of fishing line to opposite interior sides of the card stock, and fed the line through a hole to a continuous rotation servo--when the servo turns, the claw closes. This method proved simple but effective and the robot came out much better than I ever expected--the GUI works fantastic. If I am very patient and careful, I can even pick stuff up. But of course, there are always improvements to be made. I posted the code below and I would appreciate anyone looking at it and giving some suggestions for improvement. I am not familiar with most programming conventions but I am curious to learn.

Arduino Code:

http://pastie.org/8646279

Raspberry Pi Python Code:

http://pastie.org/8646309