#include <Servo.h>

Servo servofrontleft; 
Servo servobackleft;
Servo servofrontright; 
Servo servobackright;

void setup()
{
  int anglefrontleft = 110;
  int anglebackleft = 70;
  int anglefrontright = 70;
  int anglebackright = 110;
  int m = 2000;
  int n = 0;
  
  servofrontleft.attach(6);
  servobackleft.attach(7);
  servofrontright.attach(8);
  servobackright.attach(9);
  servofrontleft.write(anglefrontleft);
  servobackleft.write(anglebackleft);
  servofrontright.write(anglefrontright);
  servobackright.write(anglebackright);
  Serial.begin(57600);

while(m < 2400)
  {
    n = 0;
    while (n < 3)
    {
      anglefrontright += 2;
      servofrontright.write(anglefrontright);
      anglebackright += 2;
      servobackright.write(anglebackright);
      n = n + 1;
      m = m + 20;
      delay(20);
    }
    anglefrontright += 1;
    servofrontright.write(anglefrontright);
    anglebackright += 1;
    servobackright.write(anglebackright);
    m = m + 20;
    delay(20);
  }

  while(m < 2800)
  {
    n = 0;
    while (n < 1)
    {
      anglefrontright -= 2;
      servofrontright.write(anglefrontright);
      anglebackright += 1;
      servobackright.write(anglebackright);
      n = n + 1;
      m = m + 40;
      delay(40);
    }
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright += 1;
    servobackright.write(anglebackright);
    m = m + 40;
    delay(40);
  }

  while(m < 3200)
  {
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 80;
    delay(80);
  }
  
  while(m < 3600)
  {
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 40;
    delay(40);
  } 
}

void loop()
{
  m = 0;

  while(m < 400)
  {
    n = 0;
    while(n < 3)
    {
      anglefrontleft -= 2;
      servofrontleft.write(anglefrontleft);
      anglebackleft -= 2;
      servobackleft.write(anglebackleft); 
      n = n + 1;
      m = m + 20;
      delay(20);
    }
      anglefrontleft -= 1;
      servofrontleft.write(anglefrontleft);
      anglebackleft -= 1;
      servobackleft.write(anglebackleft);
      anglebackright -= 1;
      servobackright.write(anglebackright);
      m = m + 20;
      delay(20);  
  }

  while(m < 800)
  {
    n = 0;
    while(n < 1)
    {
      anglefrontleft += 2;
      servofrontleft.write(anglefrontleft);
      anglebackleft -= 1;
      servobackleft.write(anglebackleft);  
      n = n + 1;
      m = m + 40; 
      delay(40);   
    }
      anglefrontleft += 1;
      servofrontleft.write(anglefrontleft);
      anglebackleft -= 1;
      servobackleft.write(anglebackleft);      
      anglebackright -= 1;
      servobackright.write(anglebackright);
      m = m + 40; 
      delay(40); 
  }

  while(m < 1200)
  {
    anglefrontleft += 1;
    servofrontleft.write(anglefrontleft);  
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 80;
    delay(80);
  }

  while(m < 1600)
  {
    n = 0;
    while (n < 1)
    {
      anglebackleft += 1;
      servobackleft.write(anglebackleft);
      n = n + 1;
      m = m + 40;
      delay(40);
    }
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 40;
    delay(40);
  }

  while(m < 2000)
  {
    n = 0;
    while (n < 1)
    {
      anglefrontright -= 1;
      servofrontright.write(anglefrontright);
      anglebackright -= 1;
      servobackright.write(anglebackright);
      n = n + 1;
      m = m + 40;
      delay(40);
    }
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 40;
    delay(40);
  }

  while(m < 2400)
  {
    n = 0;
    while (n < 3)
    {
      anglefrontright += 2;
      servofrontright.write(anglefrontright);
      anglebackright += 2;
      servobackright.write(anglebackright);
      n = n + 1;
      m = m + 20;
      delay(20);
    }
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglefrontright += 1;
    servofrontright.write(anglefrontright);
    anglebackright += 1;
    servobackright.write(anglebackright);
    m = m + 20;
    delay(20);
  }

  while(m < 2800)
  {
    n = 0;
    while (n < 1)
    {
      anglefrontright -= 2;
      servofrontright.write(anglefrontright);
      anglebackright += 1;
      servobackright.write(anglebackright);
      n = n + 1;
      m = m + 40;
      delay(40);
    }
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright += 1;
    servobackright.write(anglebackright);
    anglefrontleft += 1;
    servofrontleft.write(anglefrontleft);
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    m = m + 40;
    delay(40);
  }

  while(m < 3200)
  {
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglefrontright -= 1;
    servofrontright.write(anglefrontright);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 80;
    delay(80);
  }

  while(m < 3600)
  {
    anglefrontleft += 1;
    servofrontleft.write(anglefrontleft);
    anglebackleft += 1;
    servobackleft.write(anglebackleft);
    anglebackright -= 1;
    servobackright.write(anglebackright);
    m = m + 40;
    delay(40);
  }
}