#include <ESP32Servo.h>

Servo servod1;
Servo servod2;
Servo servoi1;
Servo servoi2;

void setup() {
 Serial.begin(9600);
 servod1.attach(23);
 servod2.attach(22);
 servoi1.attach(21);
 servoi2.attach(19);

 servod1.write(0);
 servod2.write(0);
 servoi1.write(0);
 servoi2.write(0);
}

void caminar(){
//movimiento pierna derecha///
 servod1.write(45);
 servod2.write(20);
 delay(500);
 servod1.write(0);
 servod2.write(0);
 delay(500);
///movimiento pierna izquierda///
 servoi1.write(45);
 servoi2.write(20);
 delay(500);
 servoi1.write(0);
 servoi2.write(0);
 delay(500);
}



void loop() {
caminar();
}