#include <Otto.h>
Otto Otto;

#define LeftLeg 2 // left leg pin, servo[0]
#define RightLeg 3 // right leg pin, servo[1]
#define LeftFoot 4 // left foot pin, servo[2]
#define RightFoot 5 // right foot pin, servo[3]
#define Buzzer 13 //buzzer pin
#define trigPin 6
#define echoPin 7

int distance;
float duration;

void setup() {
  Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer);
  Otto.home();
  pinMode(6, OUTPUT);
  pinMode(7, INPUT);
  Serial.begin(9600);
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2; 
  Serial.println(distance);
  if (distance > 10) {
    Otto.walk(1,1000,1); // FORWARD
  }else{
    Otto.home();
  }
}