#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

// Define servos' channels on PCA9685
const int servo_pins[4][3] = {{1, 2, 3}, {4, 5, 6}, {7, 8, 9}, {10, 11, 12}};
// Adjust these values based on your servo specifications
const int SERVOMIN = 500;  // Minimum pulse width
const int SERVOMAX = 2500;  // Maximum pulse width

void setup()
{
  Wire.begin();
  pwm.begin();
  pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
  for (int i = 0; i < 4; i++)
  {
    for (int j = 0; j < 3; j++)
    {
      // Set the servo position using the PCA9685 library
      int servo_channel = servo_pins[i][j];
      int pulse = map(90, 0, 180, SERVOMIN, SERVOMAX);
      pwm.setPWM(servo_channel, 0, pulse);
      delay(20);
    }
  }
}

void loop()
{
  Serial.println("Stand");
  stand();
  delay(2000);
  Serial.println("Step forward");
  step_forward(5);
  delay(2000);
}

void stand()
{
  int pulse = map(0, 0, 180, SERVOMIN, SERVOMAX);
  pwm.setPWM(1, 0, pulse);
  pwm.setPWM(2, 0, pulse);
  pwm.setPWM(3, 0, pulse);
  pwm.setPWM(4, 0, pulse);
  pwm.setPWM(5, 0, pulse);
  pwm.setPWM(6, 0, pulse);
  pwm.setPWM(7, 0, pulse);
  pwm.setPWM(8, 0, pulse);
  pwm.setPWM(9, 0, pulse);
  pwm.setPWM(10, 0, pulse);
  pwm.setPWM(11, 0, pulse);
  pwm.setPWM(12, 0, pulse);

}

void step_forward(int steps)
{
  // Implement the code to perform a step forward
  // Adjust the pulse values and delays based on your robot's design
  for (int step = 0; step < steps; step++)
  {
    int pulse1 = map(45, 0, 180, SERVOMIN, SERVOMAX);
    int pulse2 = map(90, 0, 180, SERVOMIN, SERVOMAX);
    int pulse3 = map(135, 0, 180, SERVOMIN, SERVOMAX);
    pwm.setPWM(1, 0, pulse1);
    pwm.setPWM(2, 0, pulse1);
    pwm.setPWM(3, 0, pulse1);
    pwm.setPWM(4, 0, pulse1);
    pwm.setPWM(5, 0, pulse1);
    pwm.setPWM(6, 0, pulse1);
    pwm.setPWM(7, 0, pulse1);
    pwm.setPWM(8, 0, pulse1);
    pwm.setPWM(9, 0, pulse1);
    pwm.setPWM(10, 0, pulse1);
    pwm.setPWM(11, 0, pulse1);
    pwm.setPWM(12, 0, pulse1);
    delay(1000);
    pwm.setPWM(1, 0, pulse2);
    pwm.setPWM(2, 0, pulse2);
    pwm.setPWM(3, 0, pulse2);
    pwm.setPWM(4, 0, pulse2);
    pwm.setPWM(5, 0, pulse2);
    pwm.setPWM(6, 0, pulse2);
    pwm.setPWM(7, 0, pulse2);
    pwm.setPWM(8, 0, pulse2);
    pwm.setPWM(9, 0, pulse2);
    pwm.setPWM(10, 0, pulse2);
    pwm.setPWM(11, 0, pulse2);
    pwm.setPWM(12, 0, pulse2);
    delay(1000);
    pwm.setPWM(1, 0, pulse3);
    pwm.setPWM(2, 0, pulse3);
    pwm.setPWM(3, 0, pulse3);
    pwm.setPWM(4, 0, pulse3);
    pwm.setPWM(5, 0, pulse3);
    pwm.setPWM(6, 0, pulse3);
    pwm.setPWM(7, 0, pulse3);
    pwm.setPWM(8, 0, pulse3);
    pwm.setPWM(9, 0, pulse3);
    pwm.setPWM(10, 0, pulse3);
    pwm.setPWM(11, 0, pulse3);
    pwm.setPWM(12, 0, pulse3);
    delay(1000);
  }
}