forward_walk.ino

#include <Servo.h> 

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;

int pos1 = 0;
int pos2 = 0;
int pos3 = 0;

void setup() 
{ 
  servo1.attach(4);
  servo2.attach(7);
  servo3.attach(9);
  servo4.attach(11);
  

  servo1.write(90);              
  servo2.write(90);              
  servo3.write(90);              
  servo4.write(90);
  
  delay(2000);  //Stay in Lock Position for 2 Sec
} 

void loop() 
{ 
  for(pos1 = 90, pos2 = 90; pos1 > 70, pos2 > 70; pos1--, pos2--)  //left leg up
  {                                  
    servo1.write(pos1);              
    servo2.write(pos2);              
    servo3.write(90);              
    servo4.write(90);              
    delay(20);                       
  }

  for(pos1 = 90, pos2 = 90; pos1 < 100, pos2 < 100; pos1++, pos2++)     //move forward
  {                                
    servo1.write(70);              
    servo2.write(70);              
    servo3.write(pos1);              
    servo4.write(pos2);              
    delay(20);                       
  } 
  
  for(pos1 = 70, pos2 = 70; pos1 < 90, pos2 < 90; pos1++, pos2++)     //left leg down
  {                                
    servo1.write(pos1);              
    servo2.write(pos2);              
    servo3.write(100);              
    servo4.write(100);              
    delay(20);                       
  } 
  
  for(pos1 = 90, pos2 = 90; pos1 < 110, pos2 < 110; pos1++, pos2++)     //right leg up
  {                                
    servo1.write(pos1);              
    servo2.write(pos2);              
    servo3.write(100);              
    servo4.write(100);              
    delay(20);                       
  } 
  
  for(pos1 = 100, pos2 = 100; pos1 > 90, pos2 > 90; pos1--, pos2--)     //move forward
  {                                
    servo1.write(110);              
    servo2.write(110);              
    servo3.write(pos1);              
    servo4.write(pos2);              
    delay(20);                       
  } 
  
  for(pos1 = 110, pos2 = 110; pos1 > 90, pos2 > 90; pos1--, pos2--)     //right leg down
  {                                
    servo1.write(pos1);              
    servo2.write(pos2);              
    servo3.write(90);              
    servo4.write(90);              
    delay(20);                       
  } 
  
  delay(100);
}