Hexapod

1#include<Servo.h>
2#include<SoftwareSerial.h>
3
4SoftwareSerial BT(12,13);
5char currstatus;
6Servo lift;
7Servo front;
8Servo rear;
9
10void setup() {
11currstatus='s';
12Serial.begin(9600);
13BT.begin(9600);
14
15lift.attach(10);
16rear.attach(9);
17front.attach(11); 
18
19lift.write(90);
20rear.write(90);
21front.write(90);
22delay(2000);
23}
24
25void forward() {
26   lift.write(120);
27  delay(100);
28
29  front.write(60);
30  rear.write(90);
31  delay(100);
32
33  lift.write(90);
34  delay(100);
35
36  lift.write(60);
37  delay(100);
38
39  front.write(90);
40  rear.write(120);
41  delay(100);
42
43  lift.write(120);
44  delay(100); 
45}
46
47void backward() {
48
49  lift.write(120);
50  delay(100);
51
52  front.write(120);
53  rear.write(150);
54  delay(100);
55
56  lift.write(90);
57  delay(100);
58
59  lift.write(60);
60  delay(100);
61
62  front.write(90);
63  rear.write(120);
64  delay(100);
65
66  lift.write(90);
67  delay(100);
68  
69
70}
71
72void Stop()  {
73front.write(120);
74delay(100);
75lift.write(120);
76delay(100);
77rear.write(90);
78delay(100);
79}
80
81void loop() {
82
83  Serial.println("looping...");
84 while(BT.available())
85 {
86    currstatus=BT.read();
87    Serial.println(currstatus);
88 }
89
90 if(currstatus=='w')
91 {
92  forward();
93  Serial.println("fwd");
94 }
95 
96if(currstatus=='b')
97 {
98  backward();
99  Serial.println("fwd");
100 }
101
102if(currstatus=='s')
103 {
104  Stop();
105  Serial.println("fwd");
106 }
107
108  
109}