#include <Servo.h>

// Define the servo pins
int servo1Pin = 9;
int servo2Pin = 10;
int servo3Pin = 11;

// Define the servo objects
Servo servo1;
Servo servo2;
Servo servo3;

// Define the angles of each servo motor in the default position (90 degrees)
int theta1_0 = 90;
int theta2_0 = 90;
int theta3_0 = 90;

void setup() {
  // Initialize the serial communication
  Serial.begin(9600);

  // Attach the servo objects to the pins
  servo1.attach(servo1Pin);
  servo2.attach(servo2Pin);
  servo3.attach(servo3Pin);

  // Move the servos to the default position
  servo1.write(theta1_0);
  servo2.write(theta2_0);
  servo3.write(theta3_0);

  // Wait for the servos to reach the default position
  delay(1000);
}

void loop() {
  // Read the incoming data from the serial communication
  if (Serial.available() > 0) {
    String data = Serial.readStringUntil('\n');
    data.trim();

    // Split the data into three parts separated by commas
    int commaIndex1 = data.indexOf(',');
    int commaIndex2 = data.indexOf(',', commaIndex1+1);
    String theta1String = data.substring(0, commaIndex1);
    String theta2String = data.substring(commaIndex1+1, commaIndex2);
    String theta3String = data.substring(commaIndex2+1);

    // Convert the strings to integers
    int theta1 = theta1String.toInt();
    int theta2 = theta2String.toInt();
    int theta3 = theta3String.toInt();

    // Move the servos to the specified angles
    servo1.write(theta1);
    servo2.write(theta2);
    servo3.write(theta3);

    // Wait for the servos to reach the specified angles
    delay(1000);
  }
}