Touching is far too forward when first getting to know your kitchen faucet.
You must first serenade it ..
.. here then is the Cyrano de Bergerac method of dish washing.
1. Limited positions to averaging hot/cold/mix in deux bcz .. less is more.
Would diversify per #3.
3. Recommend https://github.com/netlabtoolkit/VarSpeedServo as alternative to littering annoying for-statements .. unfortunately avr/interrupt.h is not ESP8266 compatible.
4. Shameless plug for https://www.theio.nyc/
5. Will you ever learn, me?! Shd you believe the arms are long enough .. add more.
6. FYI .. Jacob is my personal AI. Say no to Amaoogpple!
Alternative Suggestion for Voice Commands: https://voiceattack.com/
Per Steven Dufresne's healthy skepticism .. https://hackaday.com/2018/09/01/talk-to-the-faucet/ .. a 3+ year old cheese-laden introduction to Jacob: