#include <Servo.h>
//#include <ESP32_Servo.h>    // include servo library
// Define 8 Servos
Servo myServo1; // Front Left Pivot Servo
Servo myServo2; // Front Left Lift Servo
Servo myServo3; // Back Left Pivot Servo
Servo myServo4; // Back Left Lift Servo
Servo myServo5; // Back Right Pivot Servo
Servo myServo6; // Back Right Lift Servo
Servo myServo7; // Front Right Pivot Servo
Servo myServo8; // Front Right Lift Servo
void setup()
{
  // Attach servos to Arduino Pins
  myServo1.attach(21);
  myServo2.attach(19);
  myServo3.attach(33);
  myServo4.attach(25);
  myServo5.attach(27);
  myServo6.attach(14);
  myServo7.attach(12);
  myServo8.attach(13);
  myServo1.write(90);
  myServo2.write(90);
  myServo3.write(90);
  myServo4.write(90);
  myServo5.write(90);
  myServo6.write(90);
  myServo7.write(90);
  myServo8.write(90);
}
 void loop()
{
} 
Code #2
#include <Servo.h>
//#include <ESP32_Servo.h>    // include servo library
// Define the delay between function calls (in milliseconds)
const unsigned long FUNCTION_DELAY = 2000; // 2 seconds
const unsigned long t = 2;
const unsigned long tt = 5;
// Define 8 Servos
Servo myServo1; // Front Left Pivot Servo
Servo myServo2; // Front Left Lift Servo
Servo myServo3; // Back Left Pivot Servo
Servo myServo4; // Back Left Lift Servo
Servo myServo5; // Back Right Pivot Servo
Servo myServo6; // Back Right Lift Servo
Servo myServo7; // Front Right Pivot Servo
Servo myServo8; // Front Right Lift Servo
void setup()
{
  // Attach servos to Arduino Pins
  myServo1.attach(21);
  myServo2.attach(19);
  myServo3.attach(33);
  myServo4.attach(25);
  myServo5.attach(27);
  myServo6.attach(14);
  myServo7.attach(12);
  myServo8.attach(13);
  center_servos();
  Serial.println("center");
  delay(2000);
}
void loop()
{
   //Move Forward 10 step 
  for (int i = 0; i < 10; i++) {
    moveLegServos_Forward();
  }
  center_servos();
  delay(FUNCTION_DELAY);
    // Move Backward 10 step
  for (int i = 0; i < 10; i++) {
    moveLegServos_Backward();
 }
  center_servos();
  delay(FUNCTION_DELAY);
    // Move Right 10 step
  for(int i = 0; i < 10; i++) {
    moveLegServos_Right();
  }
  center_servos();
  delay(FUNCTION_DELAY);
    // Move Left 10 step
  for (int i = 0; i < 10; i++) {
    moveLegServos_Left();
  }
  center_servos();
  delay(FUNCTION_DELAY);
   //  dance 10 step
  for (int i = 0; i < 5; i++) {
    dance();
  }
  center_servos();
  delay(FUNCTION_DELAY);
   // pushup 10 step
  for (int i = 0; i < 10; i++) {
    pushup();
  }
  center_servos();
  delay(FUNCTION_DELAY);
}
       // Move Spider Robot Forward Function
void moveLegServos_Forward()
{
  // Control the servo actions for each leg
  // Left side leg - Leg 1
  moveLeg_Left_Forward(myServo8, myServo7, myServo8);
  // Left side leg - Leg 4
  moveLeg_Left_Forward(myServo2, myServo1, myServo2);
  // Left side leg - Legs 1 and 4
  for (int angle = 0; angle <= 90; angle += 2) {
    myServo7.write(angle);
    myServo1.write(angle);
    delay(tt);
  }
  // Right side leg - Leg 2
  moveLeg_Right_Forward(myServo6, myServo5, myServo6);
  // Right side leg - Leg 3
  moveLeg_Right_Forward(myServo4, myServo3, myServo4);
  // Right side leg - Legs 2 and 3
  for (int angle = 180; angle >= 90; angle -= 2) {
    myServo5.write(angle);
    myServo3.write(angle);
    delay(tt);
  }
}  
      // Move Spider Robot Backward Function
void moveLegServos_Backward()
{
   // Control the servo actions for each leg
  // Left side leg - Leg 1
  moveLeg_Left_Backward(myServo2, myServo1, myServo2);
  // Left side leg - Leg 4
  moveLeg_Left_Backward(myServo8, myServo7, myServo8);
  // Left side leg - Legs 1 and 4
  for (int angle = 180; angle >= 90; angle -= 2) {
    myServo1.write(angle);
    myServo7.write(angle);
    delay(tt);
  }
  // Right side leg - Leg 2
  moveLeg_Right_Backward(myServo4, myServo3, myServo4);
  // Right side leg - Leg 3
  moveLeg_Right_Backward(myServo6, myServo5, myServo6);
  // Right side leg - Legs 2 and 3
  for (int angle = 0; angle <= 90; angle += 2) {
    myServo3.write(angle);
    myServo5.write(angle);
    delay(tt);
  }
}
         // Move Spider Robot Right Function
 void moveLegServos_Right() {
  // Control the Right turn servo actions for each leg
  moveLeg_Right(myServo8, myServo7, myServo5); // Leg 4
  moveLeg_Right(myServo2, myServo1, myServo7); // Leg 3
  moveLeg_Right(myServo4, myServo3, myServo1); // Leg 2
  moveLeg_Right(myServo6, myServo5, myServo3); // Leg 1
}
       // Move Spider Robot Left Function   
void moveLegServos_Left() {
  // Control the Left turn servo actions for each leg
  moveLeg_Left(myServo8, myServo7, myServo1); // Leg 4
  moveLeg_Left(myServo6, myServo5, myServo7); // Leg 3
  moveLeg_Left(myServo4, myServo3, myServo5); // Leg 2
  moveLeg_Left(myServo2, myServo1, myServo3); // Leg 1
}
       //  Spider Robot dance Function
void dance(){
    // Move the selected servos from 0 to 180 degrees
  for (int angle = 0; angle <= 180; angle += 2) {
    myServo1.write(angle);
    myServo3.write(angle);
    myServo5.write(angle);
    myServo7.write(angle);
    delay(t);  // Delay between each angle change (adjust as needed)
  }
  // Move the selected servos from 180 to 0 degrees
  for (int angle = 180; angle >= 0; angle -= 2) {
    myServo1.write(angle);
    myServo3.write(angle);
    myServo5.write(angle);
    myServo7.write(angle);
    delay(t);  // Delay between each angle change (adjust as needed)
  }
center_servos();
  delay(100);
  lean_left();
  delay(300);
  lean_right();
  delay(300);
  lean_left();
  delay(300);
  lean_right();
  delay(300);
  lean_left();
  delay(300);
  lean_right();
  delay(300);
  lean_left();
  delay(300);
  lean_right();
  delay(500);
  center_servos();
  delay(300);
  bow();
  center_servos();
}
         //  Spider Robot pushup Function    
void pushup(){
    // Move the selected servos from 0 to 180 degrees
  for (int angle = 0; angle <= 180; angle += 2) {
    myServo2.write(angle);
    myServo4.write(angle);
    myServo6.write(angle);
    myServo8.write(angle);
    delay(10);  // Delay between each angle change (adjust as needed)
  }
  // Move the selected servos from 180 to 0 degrees
  for (int angle = 180; angle >= 0; angle -= 2) {
    myServo2.write(angle);
    myServo4.write(angle);
    myServo6.write(angle);
    myServo8.write(angle);
    delay(10);  // Delay between each angle change (adjust as needed)
  }
}
          // Move Spider Robot Forward logic
void moveLeg_Left_Forward(Servo& liftServo, Servo& pivotServo , Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(tt);
  }
  // Move the pivot servo from 90 to 0
  for (int angle = 90; angle >= 0; angle -= 2) {
    pivotServo.write(angle);
    delay(tt);
  }
  // Move the lift servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(tt);
  }
}
void moveLeg_Right_Forward(Servo& liftServo, Servo& pivotServo , Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(tt);
  }
  // Move the pivot servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    pivotServo.write(angle);
    delay(tt);
  }
  // Move the lift servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(tt);
  }
}
        // Move Spider  Robot Backward logic
void moveLeg_Left_Backward(Servo& liftServo, Servo& pivotServo, Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(tt);
  }
  // Move the pivot servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    pivotServo.write(angle);
    delay(tt);
  }
  // Move the lift servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(tt);
  }
}
void moveLeg_Right_Backward(Servo& liftServo, Servo& pivotServo, Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(tt);
  }
  // Move the pivot servo from 90 to 0
  for (int angle = 90; angle >= 0; angle -= 2) {
    pivotServo.write(angle);
    delay(tt);
  }
  // Move the lift servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(tt);
  }
}
             // Move Spider  Robot Right logic
void moveLeg_Right(Servo& liftServo, Servo& pivotServo , Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(t);
  }
  // Move the pivot servo from 90 to 0
  for (int angle = 90; angle >= 0; angle -= 2) {
    pivotServo.write(angle);
    delay(t);
  }
  // Move the opposite pivot servo from 0 to 90
  for (int angle = 0; angle <= 90; angle += 2) {
    oppositePivotServo.write(angle);
    delay(t);
  }
  // Move the lift servo from 90 to 180
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(t);
  }
}
          // Move Spider  Robot Left logic
void moveLeg_Left(Servo& liftServo, Servo& pivotServo , Servo& oppositePivotServo)
{
  // Move the lift servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    liftServo.write(angle);
    delay(t);
  }
  // Move the pivot servo from 90 to 180
  for (int angle = 90; angle <= 180; angle += 2) {
    pivotServo.write(angle);
    delay(t);
  }
  // Move the opposite pivot servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    oppositePivotServo.write(angle);
    delay(t);
  }
  // Move the lift servo from 180 to 90
  for (int angle = 180; angle >= 90; angle -= 2) {
    liftServo.write(angle);
    delay(t);
  }
}
void bow()
{
  center_servos();
  delay(200);
  myServo2.write(15);
  myServo8.write(15);
  delay(700);
  myServo2.write(90);
  myServo8.write(90);
  delay(700);
}
void lean_left()
{
  myServo2.write(15);
  myServo4.write(15);
  myServo6.write(150);
  myServo8.write(150);
}
void lean_right()
{
  myServo2.write(150);
  myServo4.write(150);
  myServo6.write(15);
  myServo8.write(15);
}
      // All Servos Centor function  
void center_servos()
{
  myServo1.write(90);
  myServo2.write(90);
  myServo3.write(90);
  myServo4.write(90);
  myServo5.write(90);
  myServo6.write(90);
  myServo7.write(90);
  myServo8.write(90);
}