#include <Servo.h>
 
const int pirPin1= 47; // for turn back On
const int pirPin2= 53; // for turn back Off
bool motionDetected1 = false;
bool motionDetected2 = false; 


int buttonPin1 = 21; 
int buttonState1 = 0;


int buttonPin4=20;
int buttonState4=0;
 
Servo leftLegHip;
Servo leftLegfoot;
Servo rightLegHip;
Servo rightLegfoot;
Servo body;
Servo head;

void setup() {
    Serial.begin(9600);
  
 
   pinMode(pirPin1, INPUT);
  
  pinMode(pirPin2, INPUT);

  
  pinMode(buttonPin1, INPUT); // for movefront
 
  pinMode(buttonPin4, INPUT); // for stop walk
  

  
  leftLegHip.attach(46);  
  leftLegfoot.attach(45); 

 
  rightLegHip.attach(44);  
  rightLegfoot.attach(39); 

  body.attach(49); 
  head.attach(12);
  stand_straight();
}

void stand_straight() {
  body.write(180); 
  head.write(180);
  leftLegHip.write(0);
  leftLegfoot.write(0);  
  rightLegHip.write(0);  
  rightLegfoot.write(0); 
}


 void loop() {
  buttonState1 = digitalRead(buttonPin1); 
 
  buttonState4 = digitalRead(buttonPin4);  
   if(buttonState4 == HIGH ){
    leftLegHip.write(0);
    leftLegfoot.write(0);  
    rightLegHip.write(0);  
    rightLegfoot.write(0);    
  }
  
   else {
    
  }
  if (buttonState1 == HIGH) {   
   
    movefront();
  }
  else{

  }
  if (digitalRead(pirPin1) == HIGH) {
    if (!motionDetected1) {
      turnbackon();
      motionDetected1 = true;
    }
  } else {
    
    motionDetected1= false;
  }
  if (digitalRead(pirPin2) == HIGH) {
    if (!motionDetected2) {
    
      turnbackoff();
      motionDetected2 = true;
    }
  } else {

    motionDetected2 = false;
  }

}
 // Delay to prevent too frequent measurements


  
 
  
  


void movefront() {
  Serial.begin("movefront loop");

   for (int pos = 0; pos <= 45; pos += 1) { 
   leftLegHip.write(pos);          
  }
   for (int pos = 0; pos <= 30; pos += 1) { 
   leftLegfoot.write(pos);      
  }

  delay(500);  
  for (int pos = 45; pos >= 0; pos -= 1) {  
    leftLegHip.write(pos);  
  }
for (int pos = 30; pos >= 0; pos -= 1) { 
    leftLegfoot.write(pos); 
} 
             
  for (int pos = 0; pos <= 45; pos += 1) { 
   rightLegHip.write(pos);  
             
  }
   for (int pos = 0; pos <= 30; pos += 1) { 
   rightLegfoot.write(pos);  
           
  }
  delay(500);
  for (int pos = 45; pos >= 0; pos -= 1) {  
    rightLegHip.write(pos);  
             
  }
for (int pos = 30; pos >= 0; pos -= 1) {  
    rightLegfoot.write(pos);  
           
  }

  
  delay(1000);
 
}

void turnbackon(){ 
 for (int i = 0; i <= 180; i++) {
    body.write(0 + i);
    head.write(0 + i);
    body.write(180 - i);
    head.write(180 - i);
    delay(15);
    }
  }         
  
  

void turnbackoff(){ 
  for (int i = 0; i <= 180; i++) {
    body.write(180 - i);
    body.write(0 + i);
    head.write(180 - i);
    head.write(0 + i);
    delay(15);
  }
  }