#include <Servo.h>
  Servo servoLF1;   //connector joint
  Servo servoLF2;   //femur control
  Servo servoLF3;   //tibia control
  Servo servoLB1;
  Servo servoLB2;
  Servo servoLB3;
  Servo servoRF1;
  Servo servoRF2;
  Servo servoRF3;
  Servo servoRB1;
  Servo servoRB2;
  Servo servoRB3;

  int posLF1 = 0; //Left Front Pos
  int posLF2 = 0;
  int posLF3 = 0;
  int posLB1 = 0; //Left Back Pos
  int posLB2 = 0;
  int posLB3 = 0;
  int posRF1 = 0; //Right Front Pos
  int posRF2 = 0;
  int posRF3 = 0;
  int posRB1 = 0; //Right Back Pos
  int posRB2 = 0;
  int posRB3 = 0;

void setup() {
  servoLF1.attach(13);  //Left Front
  servoLF2.attach(12);
  servoLF3.attach(11);
  servoLB1.attach(10);  //Left Back
  servoLB2.attach(9);
  servoLB3.attach(8);
  servoRF1.attach(7);   //Right Front
  servoRF2.attach(6);
  servoRF3.attach(5);
  servoRB1.attach(4);   //Right Back
  servoRB2.attach(3);
  servoRB3.attach(2);
}

void loop(){
  forward();
}

void forward(){
  for(posLF2 = 0; posLF2 <= 30; posLF2 += 1){   //Leg 1
    servoLF2.write(posLF2);
    delay(5);  //ms
  }
  for(posLF3 = 0; posLF3 <= 30; posLF3 += 1){
    servoLF3.write(posLF3);
    delay(5);
  }
  for(posLF3 = 30; posLF3 >= 0; posLF3 -= 1){
    servoLF3.write(posLF3);
    delay(5);
  }
  for(posLF2 = 30; posLF2 >= 0; posLF2 -= 1){
    servoLF2.write(posLF2);
    delay(5);
  }

  for(posRB2 = 0; posRB2 <= 30; posRB2 += 1){   //Leg 1
    servoRB2.write(posRB2);
    delay(5);  //ms
  }
  for(posRB3 = 0; posRB3 <= 30; posRB3 += 1){
    servoRB3.write(posRB3);
    delay(5);
  }
  for(posRB3 = 30; posRB3 >= 0; posRB3 -= 1){
    servoRB3.write(posRB3);
    delay(5);
  }
  for(posRB2 = 30; posRB2 >= 0; posRB2 -= 1){
    servoRB2.write(posRB2);
    delay(5);
  }

  for(posRF2 = 0; posRF2 <= 30; posRF2 += 1){   //Leg 3
    servoRF2.write(posRF2);
    delay(5);  //ms
  }
  for(posRF3 = 0; posRF3 <= 30; posRF3 += 1){
    servoRF3.write(posRF3);
    delay(5);
  }
  for(posRF3 = 30; posRF3 >= 0; posRF3 -= 1){
    servoRF3.write(posRF3);
    delay(5);
  }
  for(posRF2 = 30; posRF2 >= 0; posRF2 -= 1){
    servoRF2.write(posRF2);
    delay(5);
  }

  for(posLB2 = 0; posLB2 <= 30; posLB2 += 1){   //Leg 4
    servoLB2.write(posLB2);
    delay(5);  //ms
  }
  for(posLB3 = 0; posLB3 <= 30; posLB3 += 1){
    servoLB3.write(posLB3);
    delay(5);
  }
  for(posLB3 = 30; posLB3 >= 0; posLB3 -= 1){
    servoLB3.write(posLB3);
    delay(5);
  }
  for(posLB2 = 30; posLB2 >= 0; posLB2 -= 1){
    servoLB2.write(posLB2);
    delay(5);
  }
}