Arduino LEG

1#include <Servo.h>
2
3Servo S1;
4Servo S2;
5Servo S3;
6Servo  S4;
7
8int baud = 9600;
9int ledpin = 7;
10
11void setup() {
12 Serial.begin(baud);
13
14  S1.attach(3);
15 S2.attach(5);
16 S3.attach(6);
17 S4.attach(9);
18
19 pinMode(ledpin,  OUTPUT);
20
21     for (int pos = 0; pos <= 30; pos += 1) { // goes from 0 degrees  to 180 degrees
22    // in steps of 1 degree
23    S1.write(pos);              //  tell servo to go to position in variable 'pos'
24    delay(15);                       //  waits 15ms for the servo to reach the position
25  }
26  for (int pos = 30; pos  >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
27   S1.write(pos);              //  tell servo to go to position in variable 'pos'
28    delay(15);                       //  waits 15ms for the servo to reach the position
29  }              
30  for (int  pos = 0; pos <= 30; pos += 1) { // goes from 0 degrees to 180 degrees
31    //  in steps of 1 degree
32    S2.write(pos);              // tell servo to go to position  in variable 'pos'
33    delay(15);                       // waits 15ms for the  servo to reach the position
34  }
35  for (int pos = 30; pos >= 0; pos -= 1) {  // goes from 180 degrees to 0 degrees
36   S2.write(pos);              // tell  servo to go to position in variable 'pos'
37    delay(15);                       //  waits 15ms for the servo to reach the position
38  }              
39  for (int  pos = 0; pos <= 30; pos += 1) { // goes from 0 degrees to 180 degrees
40    //  in steps of 1 degree
41    S3.write(pos);              // tell servo to go to position  in variable 'pos'
42    delay(15);                       // waits 15ms for the  servo to reach the position
43  }
44  for (int pos = 30; pos >= 0; pos -= 1) {  // goes from 180 degrees to 0 degrees
45   S3.write(pos);              // tell  servo to go to position in variable 'pos'
46    delay(15);                       //  waits 15ms for the servo to reach the position
47  }              
48  for (int  pos = 0; pos <= 30; pos += 1) { // goes from 0 degrees to 180 degrees
49    //  in steps of 1 degree
50    S4.write(pos);              // tell servo to go to position  in variable 'pos'
51    delay(15);                       // waits 15ms for the  servo to reach the position
52  }
53  for (int pos = 30; pos >= 0; pos -= 1) {  // goes from 180 degrees to 0 degrees
54   S4.write(pos);              // tell  servo to go to position in variable 'pos'
55    delay(15);                       //  waits 15ms for the servo to reach the position
56  }  
57}
58
59void loop()  {
60
61    //in this code the movments are looped for 1 time
62}
63