3 servo biped walking robot - converting from picaxe to arduino

hello everyone,

http://letsmakerobots.com/node/29379
i started building robot , built , tested movement sweep servo example, moved great.
but need make walk arduino, original creator used picaxe , provided code :

code: [select]



symbol lfoot = 1 ' set pin number servo
symbol rfoot = 4 ' set pin number servo
symbol balance =2 ' set pin number servo
symbol round = b6 ' variable used loop 1 left + right footstep
symbol lfoo = b0 lfoo = 120  ' set , initiate feet twister variable
symbol balanservo = b3 balanservo = 166  ' set , initiate balance variable (10 more optimal balance / middle balance servo)

servo lfoot, lfoo ' initiate servo
servo rfoot, lfoo ' initiate servo
servo balance, balanservo  ' initiate servo

symbol speed = 1' set higher slower walking
wait 5 ' wait robot placed on ground before moving


main:
for round = 1 120 ' main variable dictate action flow
select case round
case 1 60
inc lfoo

if round < 15 then
balanservo = balanservo +1
endif
if round > 40 , round < 50 then
balanservo = balanservo -2
endif
if round> 49 then
balanservo = balanservo -1
endif

case 61 120
dec lfoo

if round < 75 then
balanservo = balanservo -1
endif
if round > 100 , round < 110 then
balanservo = balanservo +2
endif
if round > 109 then
balanservo = balanservo +1
endif

end select

' set servos:
servopos balance, balanservo
servopos lfoot, lfoo
servopos rfoot, lfoo
pause speed
next round
goto main



ive tried studying couldnt make sense of it, tried using sweep servo example , modifying move 3 servos in fluid sequence:

code: [select]


/* sweep
  barragan <http://barraganstudio.com>
  example code in public domain.

  modified 8 nov 2013
  scott fitzgerald
  http://www.arduino.cc/en/tutorial/sweep
*/

#include <servo.h>

servo liftservo;  // create servo object control servo
servo leftfoot;
servo rightfoot;

int liftpos = 0;// variable store servo position
int leftpos = 0;
int rightpos = 0;
int delay1 = 15;


void setup() {
  liftservo.attach(9);  // attaches servo on pin 9 servo object
  leftfoot.attach(10);
  rightfoot.attach(11);
}

void loop() {
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (liftpos = 60; liftpos <= 120; liftpos += 1) {                    //lift the  left side
    liftservo.write(liftpos);
    delay(10);
  }
  //------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (leftpos = 70; leftpos <= 110; leftpos += 1) {
    leftfoot.write(leftpos);
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (rightpos = 70; rightpos <= 110; rightpos += 1) {
    rightfoot.write(rightpos);
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (liftpos = 120; liftpos <= 60; liftpos += 1) {
    liftservo.write(liftpos);                                          //lift right side
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (liftpos = 60; liftpos >= 120; liftpos -= 1) {                    //lift the  left side
    liftservo.write(liftpos);
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (leftpos = 110; leftpos <= 70; leftpos += 1) {
    leftfoot.write(leftpos);
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (rightpos = 110; rightpos <= 70; rightpos += 1) {
    rightfoot.write(rightpos);
    delay(10);
  }
  //-------------------------------------------------------------------------------------------------------------
  delay(delay1);
  (liftpos = 120; liftpos >= 60; liftpos -= 1) {
    liftservo.write(liftpos);                                          //lift right side
    delay(10);
  }
}



this did not work @ because seems servos return original position after movement, furthermore not move in fluid movement, each seperate servo moving alone.
how make work simularly picaxe code?

i not experienced arduino code made may not make sense @ all.
i appreciate thankyou in advance

https://forum.arduino.cc/index.php?topic=223286.0

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