#include <Servo.h>

// Define servo objects
Servo servoLeft;
Servo servoRight;

// Pins connected to servo motors
int leftServoPin = 9;  // Change this to the actual pin you're using
int rightServoPin = 10; // Change this to the actual pin you're using

// Initial positions for servo motors
int leftInitialPos = 0;   // 90 degrees is usually the center position
int rightInitialPos = 0;

// Incremental angle change for walking motion
int angleIncrement = 90;   // You can adjust this value for the desired motion

void setup() {
  // Attach servo objects to pins
  servoLeft.attach(leftServoPin);
  servoRight.attach(rightServoPin);

  // Initialize servo positions
  servoLeft.write(leftInitialPos);
  servoRight.write(rightInitialPos);

  // Optional: You can add a delay here for initial setup if needed
  // delay(1000);
}

void loop() {
  // Move the servo motors back and forth for walking motion
  for (int angle = leftInitialPos - 180; angle <= leftInitialPos + 90; angle += angleIncrement) {
    servoLeft.write(180 + angle);
    servoRight.write(180 - angle); // To keep legs in sync, use opposite angles for the other leg
    delay(100);  // Adjust delay for desired walking speed
  }
  
  // Return to initial position
  servoLeft.write(leftInitialPos);
  servoRight.write(rightInitialPos);
  
  delay(1000);  // Delay before starting the next walking cycle
}