Quadruped_4_Servo_Robotics_Dog

 #include <Servo.h>

// Create servo objects

Servo leg1; 

Servo leg2; 

Servo leg3; 

Servo leg4;

// Define servo pin numbers

#define LEG1_PIN 9

#define LEG2_PIN 10

#define LEG3_PIN 11

#define LEG4_PIN 12

// Define walking angles

int leg1_up = 60, leg1_down = 120;

int leg2_up = 60, leg2_down = 120;

int leg3_up = 60, leg3_down = 120;

int leg4_up = 60, leg4_down = 120;

void setup() {

  // Attach servos

  leg1.attach(LEG1_PIN);

  leg2.attach(LEG2_PIN);

  leg3.attach(LEG3_PIN);

  leg4.attach(LEG4_PIN);

}

void loop() {

  // Step 1: Lift Leg 1, Push Leg 3

  leg1.write(leg1_up); // Leg 1 goes up

  leg3.write(leg3_down); // Leg 3 pushes forward

  delay(300);

  // Step 2: Lift Leg 2, Push Leg 4

  leg2.write(leg2_up); // Leg 2 goes up

  leg4.write(leg4_down); // Leg 4 pushes forward

  delay(300);

  // Step 3: Return Leg 1, Pull Leg 3

  leg1.write(leg1_down); // Leg 1 comes down

  leg3.write(leg3_up); // Leg 3 pulls back

  delay(300);

  // Step 4: Return Leg 2, Pull Leg 4

  leg2.write(leg2_down); // Leg 2 comes down

  leg4.write(leg4_up); // Leg 4 pulls back

  delay(300);

}