#include <Otto9.h>
Otto9 Otto;

#define PIN_YL 11 //servo[0]  left leg
#define PIN_YR 10 //servo[1]  right leg
#define PIN_RL 9 //servo[2]  left foot
#define PIN_RR 6 //servo[3]  right foot

#define PIN_Trigger  25  //TRIGGER pin (8)
#define PIN_Echo     26  //ECHO pin (9)
#define PIN_Buzzer  27 //BUZZER pin (13)

int estado=1;
void setup() {
  Otto.init(PIN_YL, PIN_YR, PIN_RL, PIN_RR, true, A6, PIN_Buzzer, PIN_Trigger, PIN_Echo); //Set the servo pins and ultrasonic pins and Buzzer pin
  Otto.sing(S_connection); //Otto wake up!
  Otto.home();
  delay(1000);

}

void loop() {
  
//Otto.home();
//Otto.walk(2,1400,1);//FORWARD
//Otto.walk(2,1400,-1);//BACKWARD
//Otto.moonwalker(3, 1400, 25,1); //LEFT
//Otto.moonwalker(3, 1400, 25,-1); //RIGHT 
//Otto.flapping(2, 1000, 20,1);
//Otto.flapping(2, 1000, 20,-1);
//Otto.tiptoeSwing(2, 1000, 20);
//Otto.jitter(2, 1000, 20);
//Otto.updown(2, 1000, 20);
//Otto.ascendingTurn(2, 1400, 50);
///////////////////////////////////////////
 switch (estado){
  case 0:
  Otto.home();
  estado=1;
  break;

  case 1:
  Otto.walk(3,1400,1);
  estado=2;
  break;

  case 2:
  Otto.home();
  delay(500);
  estado=3;
  break;
  
  case 3:
  Otto.walk(3,1400,-1);
  estado=4;
  break;

  case 4:
  Otto.home();
  break;
 }
}