// LEG 1 - Axis1 - Axis2
// LEG 2 - Axis3 - Axis4
// LEG 3 - Axis5 - Axis6
// LEG 4 - Axis7 - Axis8

#include <Servo.h>

Servo axis1;
Servo axis2;
Servo axis3;
Servo axis4;
Servo axis5;
Servo axis6;
Servo axis7;
Servo axis8;

int a1=90;
int a2=90; 
int a3=90; 
int a4=90; 
int a5=90; 
int a6=90; 
int a7=90; 
int a8=90;

int turnAngle = 5;

void setup() {
  Serial.begin(9600);
  axis1.attach(2);
  axis2.attach(3);
  axis3.attach(4);
  axis4.attach(5);
  axis5.attach(6);
  axis6.attach(7);
  axis7.attach(8);
  axis8.attach(9);
  axis1.write(90);
  axis2.write(90);
  axis3.write(90);
  axis4.write(90);
  axis5.write(90);
  axis6.write(90);
  axis7.write(90);
  axis8.write(90);
  Serial.println("");
}

void loop() {
  if (Serial.available()){
    char ch = Serial.read();
    if (ch == 'f'){
      forward();
    }
    if (ch == 'b'){
      backward();
    }
    if (ch == 'l'){
      left();
    }
    if (ch == 'r'){
      right();
    }
  }
}

void backward(){
  Serial.println("Back");
}
void left(){
  Serial.println("Left");
}
void right(){
  Serial.print("right");
}

void forward(){
  axis2.write(180);
  delay(500);
  axis1.write(0);
  delay(500);
  axis2.write(90);
  delay(500);

  axis6.write(0);
  delay(500);
  axis5.write(180);
  delay(500);
  axis6.write(90);
  delay(500);

  axis4.write(180);
  delay(500);
  axis3.write(0);
  delay(500);
  axis4.write(90);
  delay(500);

  axis8.write(0);
  delay(500);
  axis7.write(180);
  delay(500);
  axis8.write(90);
  delay(500);

  axis1.write(90);
  axis5.write(90);
  axis3.write(90);
  axis7.write(90);
  delay(1000);
}