#include <Arduino.h>
#include <ESP32Servo.h>

Servo frontLeftServo;
Servo frontRightServo;
Servo backLeftServo;
Servo backRightServo;

const int frontLeftPin = 23;
const int frontRightPin = 2;
const int backLeftPin = 22;
const int backRightPin = 15;

void moveLegForward(Servo &servo, int angle) {
  servo.write(angle);
  delay(150); 
}

void moveLegBackward(Servo &servo, int angle) {
  servo.write(angle);
  delay(200); 
}

void walk() {
  int forwardAngle = 45; 
  int backwardAngle = 90;

  moveLegForward(frontLeftServo, forwardAngle);
  moveLegBackward(frontLeftServo, backwardAngle);

  moveLegForward(frontRightServo, forwardAngle);
  moveLegBackward(frontRightServo, backwardAngle);

  moveLegForward(backLeftServo, forwardAngle);
  moveLegBackward(backLeftServo, backwardAngle);

  moveLegForward(backRightServo, forwardAngle);
  moveLegBackward(backRightServo, backwardAngle);
}

void setup() {
  frontLeftServo.attach(frontLeftPin);
  frontRightServo.attach(frontRightPin);
  backLeftServo.attach(backLeftPin);
  backRightServo.attach(backRightPin);
}

void loop() {
  walk();
}