Creating Servo groups for a Quadruped Service Drone

Projects General Guidance
1

Hi, thank you for reading my post.

We are creating a quadruped service drone, using a Arduino Uno R4 to control 12 servos (4x hips, 4x femurs and 4x tibias). To control this we are using C++ on Arduino IDE. I have search the web looking for the following information but found it confusing.

We want to create the movement of the Left back and Right forward leg to move forward while the right back and left forward legs move backwards. This should resemble a dog walking.

2

As your question has nothing to do with the operation of IDE 1.x it has been moved to a more relevant forum category

3

So what's your question?

4

If you create ALL primitive movements as FUNCTIONS, you can then create functions that will call the primitive functions in any order you wish.

5

Here is a very good introduction to Servos and PC9685 (16 servo multiplexer). Your code will be different due to ESP versus AVR board: