#include <Servo.h>

// Define servos
Servo frontLeft;
Servo frontRight;
Servo backLeft;
Servo backRight;

// Define initial positions for each servo
int frontLeftPos = 90;
int frontRightPos = 90;
int backLeftPos = 90;
int backRightPos = 90;

void setup() {
  // Attach servos to pins
  frontLeft.attach(10);
  frontRight.attach(11);
  backLeft.attach(5);
  backRight.attach(6);

  // Initialize servos to their starting position
  frontLeft.write(frontLeftPos);
  frontRight.write(frontRightPos);
  backLeft.write(backLeftPos);
  backRight.write(backRightPos);
  delay(1000); // Allow servos to reach starting position
}

void loop() {
  // Move servos to simulate walking
  walkForward();
}

// Function to walk forward
void walkForward() {
  // Step 1: Lift front left leg and back right leg
  frontLeft.write(frontLeftPos - 30); // Lift leg
  backRight.write(backRightPos - 30);
  delay(500);

  // Step 2: Move front left leg forward, back right leg backward
  frontLeft.write(frontLeftPos + 30);
  backRight.write(backRightPos + 30);
  delay(500);

  // Step 3: Return front left leg and back right leg to original position
  frontLeft.write(frontLeftPos);
  backRight.write(backRightPos);
  delay(500);

  // Step 4: Lift front right leg and back left leg
  frontRight.write(frontRightPos - 30); // Lift leg
  backLeft.write(backLeftPos - 30);
  delay(500);

  // Step 5: Move front right leg forward, back left leg backward
  frontRight.write(frontRightPos + 30);
  backLeft.write(backLeftPos + 30);
  delay(500);

  // Step 6: Return front right leg and back left leg to original position
  frontRight.write(frontRightPos);
  backLeft.write(backLeftPos);
  delay(500);
}