#include <Servo.h> // bibliotheque du servo moteur

Servo base;  // servos
Servo leg1;
Servo leg2;
Servo leg3;
Servo leg4;
Servo pince;

int min = 680;//valeurs min et max du servo
int max = 2420;

int a = 2; // interrupteur a la pin 5
int lev1 = A0; //potentiometres
int lev2 = A1;
int lev3 = A2;
int lev4 = A3;
int lev5 = A4; 
int lev6 = A5; 

float val = 0;    // variables des servos
float val2 = 0;
float val3 = 0;
float val4 = 0;
float val5 = 0;
float val6 = 0;

void setup() {//setup
  pinMode(a,INPUT);
  pinMode(lev1, INPUT);
  pinMode(lev2, INPUT);
  pinMode(lev3, INPUT);
  pinMode(lev4, INPUT);
  pinMode(lev5, INPUT);  
  pinMode(lev6,INPUT);
  base.attach(11,min,max);
  leg1.attach(10,min,max);
  leg2.attach(9,min,max);
  leg3.attach(6),min,max;
  leg4.attach(5,min,max);
  pince.attach(3,min,max);
  Serial.begin(9600);
}

void loop() {//en boucle
  val = map(analogRead(lev1),0,1023,0,180);//lis les données des potentiometres
  val2 = map(analogRead(lev2),0,1023,0,180);
  val3 = map(analogRead(lev3),0,1023,0,180);
  val4 = map(analogRead(lev4),0,1023,0,180);
  val5 = map(analogRead(lev5),0,1023,0,180);
  val6 = map(analogRead(lev6),0,1023,0,180);
  
  if(digitalRead(a)== LOW){// si la switch est off
    base.write(val);//ecris les données des potentiometres sur les servos
    delay(10);   
    leg1.write(val2);
    delay(10);
    leg2.write(val3);
    delay(10);
    leg3.write(val4);
    delay(10);
    leg4.write(val5);
    delay(10);
    pince.write(val6);
    delay(10);               
  }
}