 
 void setup() 
 { 
-  Serial.begin(9600); 
-  
-  servo_flh.attach(FLH_PIN);
-  servo_flf.attach(FLF_PIN);
+  //Serial.begin(9600); 
+  
+  //servo_flh.attach(FLH_PIN);
+  //servo_flf.attach(FLF_PIN);
   servo_frh.attach(FRH_PIN);
   servo_frf.attach(FRF_PIN);
   
   servo_rlh.attach(RLH_PIN);
   servo_rlf.attach(RLF_PIN);
-  servo_rrh.attach(RRH_PIN);
-  servo_rrf.attach(RRF_PIN);
-  
-  servo_flh.write(FLH_CENTER);
-  servo_flf.write(FLF_CENTER);
-  servo_frh.write(FRH_CENTER);
-  servo_frf.write(FRF_CENTER);
-  
-  servo_rlh.write(RLH_CENTER);
-  servo_rlf.write(RLF_CENTER);
-  servo_rrh.write(RRH_CENTER);
-  servo_rrf.write(RRF_CENTER);
+  //servo_rrh.attach(RRH_PIN);
+  //servo_rrf.attach(RRF_PIN);
+  
+  //servo_flh.write(FLH_CENTER);
+  //servo_flf.write(FLF_CENTER);
+  //servo_frh.write(FRH_CENTER);
+  //servo_frf.write(FRF_CENTER);
+  
+  //servo_rlh.write(RLH_CENTER);
+  //servo_rlf.write(RLF_CENTER);
+  //servo_rrh.write(RRH_CENTER);
+  //servo_rrf.write(RRF_CENTER);
 
  
   motionFwd();
-  
+  //leg_timer = timer.setInterval(6000, motionFwd);
 }
 
 void loop() 


int leg_timer = 0;
int leg_timer_fr = 0;


// There must be one global SimpleTimer object.
// More SimpleTimer objects can be created and run.

#define RRH_CENTER   90 
#define RRF_CENTER   90 

#define FLH_MAX   130 
#define FLF_MAX   160 
#define FRH_MAX   130 
#define FRF_MAX   160

#define RLH_MAX   130 
#define RLF_MAX   160
#define RRH_MAX   130 
#define RRF_MAX   160 

#define FLH_MIN   50 
#define FLF_MIN   50 
#define FRH_MIN   50 
#define FRF_MIN   50

#define RLH_MIN   50 
#define RLF_MIN   50
#define RRH_MIN   50 
#define RRF_MIN   50 
 
#define FLH_PIN 2    // Front Left Hip servo  pin
#define FLF_PIN 3    // Front Left Foot servo  pin
#define FRH_PIN 4    // Front Right Foot switch pin
#define FRF_PIN 5    // Front Right Foot switch pin

#define RLH_PIN 6    // Rear Left Hip switch pin
#define RLF_PIN 7    // Rear Left Foot switch pin
#define RRH_PIN 8   // Rear Right Foot switch pin
#define RRF_PIN 9   // Rear Left Foot switch pin

VarSpeedServo servo_flh;  
VarSpeedServo servo_flf;
