/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-06-02 https://www.robotway.com/

  ------------------------------*/

#include<Servo.h>

#define upper_servo_initialangle 90

#define lower_servo_initialangle 90

Servo upper_servo;   //大腿舵机

Servo lower_servo;   //小腿舵机

void setup()

{

  upper_servo.attach(4);

  lower_servo.attach(7);

  upper_servo.write(upper_servo_initialangle);

  lower_servo.write(lower_servo_initialangle);

  delay(1000);

}

void loop()

{

  //大腿动一下

  for(int i=0;i<30;i++)

  {

    upper_servo.write(upper_servo_initialangle+i);

    delay(100);

  }

  for(int j=30;j>0;j--)

  {

    upper_servo.write(upper_servo_initialangle+j);

    delay(100);

  }

  //小腿动一下

  for(int i=0;i<30;i++)

  {

    lower_servo.write(lower_servo_initialangle+i);

    delay(100);

  }

  for(int j=30;j>0;j--)

  {

    lower_servo.write(lower_servo_initialangle+j);

    delay(100);

  }

}