#include <Servo.h>

// Define the servo objects
Servo frontLeftLeg;
Servo frontRightLeg;
Servo backLeftLeg;
Servo backRightLeg;

// Define the servo pins
const int frontLeftPin = 5;
const int frontRightPin = 6;
const int backLeftPin = 9;
const int backRightPin = 10;

// Define the positions for the walking pattern
const int standPosition = 90;
const int stepForward = 120;
const int stepBackward = 60;

void setup() {
  // Attach the servos to the corresponding pins
  frontLeftLeg.attach(frontLeftPin);
  frontRightLeg.attach(frontRightPin);
  backLeftLeg.attach(backLeftPin);
  backRightLeg.attach(backRightPin);

  // Set the initial position to standing
  frontLeftLeg.write(standPosition);
  frontRightLeg.write(standPosition);
  backLeftLeg.write(standPosition);
  backRightLeg.write(standPosition);

  // Wait for the servos to reach the initial position
  delay(500);
}

void loop() {
  // Move the legs in a walking pattern

  // Step 1: Move front left and back right legs forward
  frontLeftLeg.write(stepForward);
  backRightLeg.write(stepForward);
  delay(500); // Wait for the movement to complete

  // Step 2: Move front right and back left legs backward
  frontRightLeg.write(stepBackward);
  backLeftLeg.write(stepBackward);
  delay(500); // Wait for the movement to complete

  // Step 3: Move front left and back right legs backward
  frontLeftLeg.write(stepBackward);
  backRightLeg.write(stepBackward);
  delay(500); // Wait for the movement to complete

  // Step 4: Move front right and back left legs forward
  frontRightLeg.write(stepForward);
  backLeftLeg.write(stepForward);
  delay(500); // Wait for the movement to complete

  // Step 5: Return all legs to standing position
  frontLeftLeg.write(standPosition);
  frontRightLeg.write(standPosition);
  backLeftLeg.write(standPosition);
  backRightLeg.write(standPosition);
  delay(500); // Wait for the movement to complete

  // Repeat the walking pattern
}