#include <Servo.h>

// Define Servo objects for each part
Servo frontLeft, frontRight, backLeft, backRight;
Servo mouth, tail;

void setup() {
  // Attach each servo to the respective pins
  frontLeft.attach(3);
  frontRight.attach(5);
  backLeft.attach(6);
  backRight.attach(9);
  mouth.attach(10);
  tail.attach(11);

  // Set initial positions
  initialPosition();
  delay(1000); // Allow time for the servos to reach initial positions
}

void loop() {
  moveForward();
 
  delay(2000);

  moveBackward();
  delay(2000);

  moveRun();
  delay(2000);

  sit();
  delay(2000);

  stand();
  delay(2000);

  bark();
  delay(2000);

  wagTail();
  delay(2000);

}

// Function to set initial servo positions
void initialPosition() {
  frontLeft.write(0);   // Set front left leg to neutral position
  frontRight.write(0);  // Set front right leg to neutral position
  backLeft.write(0);    // Set back left leg to neutral position
  backRight.write(0);   // Set back right leg to neutral position

  mouth.write(90);       // Close mouth
  tail.write(90);        // Tail in neutral position
}

// Function to move the robot forward with all legs moving smoothly
void moveForward() {
  for (int i = 0; i < 3; i++) { // Repeat for continuous motion
    // Lift front left and back right legs while moving front right and back left forward
    frontLeft.write(45); // Lift front left leg
    backRight.write(45); // Lift back right leg
    frontRight.write(135); // Move front right leg forward
    backLeft.write(135); // Move back left leg forward
    delay(300);

    // Lower front left and back right legs while moving front right and back left to neutral
    frontLeft.write(90); // Lower front left leg to neutral
    backRight.write(90); // Lower back right leg to neutral
    frontRight.write(90); // Move front right leg to neutral
    backLeft.write(90); // Move back left leg to neutral
    delay(300);

    // Lift front right and back left legs while moving front left and back right forward
    frontRight.write(45); // Lift front right leg
    backLeft.write(45); // Lift back left leg
    frontLeft.write(135); // Move front left leg forward
    backRight.write(135); // Move back right leg forward
    delay(300);

    // Lower front right and back left legs while moving front left and back right to neutral
    frontRight.write(90); // Lower front right leg to neutral
    backLeft.write(90); // Lower back left leg to neutral
    frontLeft.write(90); // Move front left leg to neutral
    backRight.write(90); // Move back right leg to neutral
    delay(300);
  }
}

// Function to move the robot backward
void moveBackward() {
  for (int i = 0; i < 3; i++) { // Repeat for continuous motion
    // Similar pattern as moveForward but in reverse
    frontLeft.write(135); // Lift front left leg backward
    backRight.write(135); // Lift back right leg backward
    frontRight.write(45); // Move front right leg backward
    backLeft.write(45); // Move back left leg backward
    delay(500);

    frontLeft.write(90);
    backRight.write(90);
    frontRight.write(90);
    backLeft.write(90);
    delay(500);

    frontRight.write(135); // Lift front right leg backward
    backLeft.write(135); // Lift back left leg backward
    frontLeft.write(45); // Move front left leg backward
    backRight.write(45); // Move back right leg backward
    delay(500);

    frontRight.write(90);
    backLeft.write(90);
    frontLeft.write(90);
    backRight.write(90);
    delay(500);
  }
}

// Function to run forward
void moveRun() {
  for (int i = 0; i < 3; i++) { // Repeat for faster motion
    // Similar to moveForward but with faster and slightly exaggerated movements
    frontLeft.write(45);
    backRight.write(45);
    frontRight.write(135);
    backLeft.write(135);
    delay(250);  // Reduced delay for faster movement

    frontLeft.write(90);
    backRight.write(90);
    frontRight.write(90);
    backLeft.write(90);
    delay(250);

    frontRight.write(45);
    backLeft.write(45);
    frontLeft.write(135);
    backRight.write(135);
    delay(250);

    frontRight.write(90);
    backLeft.write(90);
    frontLeft.write(90);
    backRight.write(90);
    delay(250);
  }
}

// Function to make the robot sit
void sit() {
  frontLeft.write(120);  // Adjust front legs to sitting position
  frontRight.write(120);
  backLeft.write(60);    // Adjust back legs to sitting position
  backRight.write(60);
  delay(1000);           // Hold the position
}

// Function to make the robot stand
void stand() {
  frontLeft.write(90);   // Return legs to standing position
  frontRight.write(90);
  backLeft.write(90);
  backRight.write(90);
  delay(500);            // Stabilize in standing position
}

// Function to wag the tail
void wagTail() {
  for (int i = 0; i < 5; i++) {  // Wag 5 times
    tail.write(45);    // Move tail to the left
    delay(200);
    tail.write(135);   // Move tail to the right
    delay(200);
  }
  tail.write(90);  // Return tail to neutral position
}

// Function to simulate barking
void bark() {
  for (int i = 0; i < 3; i++) {  // Bark 3 times
    mouth.write(45);    // Open mouth
    delay(500);
    mouth.write(90);    // Close mouth
    delay(500);
  }
}