Vertical Climb Claw (Derivable #2)

Automate me, please! I just can't figure out how to make this work on its own. This was gonna use raycasting once the lowerclamps Y was higher than the stationary clamp. I got it to run one cycle then completely started over so it doesnt function now.My problem was getting the right target value with the rays.Would get clamp planks id and stuff like that.if someone can fix once cycle the other can be copied and pasted and the freqeuncys reversed to work. the write frequencys are 1,2,3,4,5 and there f~state(read) is noted in the lua for there control functions (11,12,13,14,15).