Забейте, я просто файл перекидываю

#include <Servo.h>
Servo rh;
Servo rk;
Servo lh;
Servo lk;

const int Normal = 90;

const int hDelta = 30;
const int kDelta = 40;

void setup() {
  // put your setup code here, to run once:
rh.attach(3);
rk.attach(2);
lh.attach(4);
lk.attach(5);

rh.write(Normal);
rk.write(Normal);
lh.write(Normal);
lk.write(Normal);
delay(1000);
}

void loop() {
  // put your main code here, to run repeatedly:
walking();
delay(1000);
}

void walking() {
delay(500);
rk.write(Normal+kDelta);
delay(500);
lk.write(Normal-kDelta);
delay(500);
lh.write(Normal+hDelta);
delay(500);
lh.write(Normal);
lk.write(Normal);
}

//plus eto napravo (lh)

#include <Servo.h>
Servo leftHip;
Servo rightHip;
Servo leftKnee;
Servo rightKnee;  
//six
//seven

// normal/standing angles
const int hNormal = 90;
const int kNormal = 90;

//step angles/delay
const int hStep = 30;
const int kStep = 40;


 
void setup() {
  leftHip.attach(5);
  rightHip.attach(4);
  leftKnee.attach(6);
  rightKnee.attach(3);

  leftHip.write(hNormal); // set initial position of left hip
  rightHip.write(hNormal); // set initial position of right hip
  leftKnee.write(kNormal); // set initial position of left knee
  rightKnee.write(kNormal); // set initial position of right knee
  delay(1000); // wait for servos to reach initial position
}

void step(char side) {
  if (side == 'R') {
    rightHip.write(hNormal + hStep);
    leftHip.write(hNormal - hStep);
    rightKnee.write(kNormal - kStep);
    leftKnee.write(kNormal);
    delay(500);
  }
  else if (side == 'L') {
    leftHip.write(hNormal + hStep);
    rightHip.write(hNormal - hStep);
    leftKnee.write(kNormal - kStep);
    rightKnee.write(kNormal);
    delay(500);
  }
}

void loop() 
{
walking();
} 

void walking()
{
    step('R');      // Step right leg

  step('L');       // Step left leg

//ya vot tebe chay cheres sisechko nalyu... cherez sitechko... *zvuk vkluchenia mikrofona*... -net... *nachalj zvuka kolokola i zvona* siiiix sevn! *zvuk zvona zachanchilsya pryam kogda chel skazal six sevn*
  
  leftHip.write(hNormal); 
  rightHip.write(hNormal); 
  leftKnee.write(kNormal); 
  rightKnee.write(kNormal);
  delay(500); 
}