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#include <Servo.h>

Servo servothumb; // Define thumb servo
Servo servoindex; // Define index servo
Servo servomajeure;
Servo servoringfinger;
Servo servopinky;
Servo servowrist;
Servo servobiceps;
Servo servorotate;
Servo servoshoulder;
Servo servoomoplat;
Servo servoneck;
Servo servorothead;

void setup() {
servothumb.attach(2); // Set thumb servo to digital pin 2
servoindex.attach(3); // Set index servo to digital pin 3
servomajeure.attach(4);
servoringfinger.attach(5);
servopinky.attach(6);
servowrist.attach(7);
servobiceps.attach(8);
servorotate.attach(9);
servoshoulder.attach(10);
servoomoplat.attach(11);
servoneck.attach(12);
servorothead.attach(13);

}

void loop() { // Loop through motion tests
alltovirtual(); // Example: alltovirtual
delay(4000); // Wait 4000 milliseconds (4 seconds)
//alltorest(); // Uncomment to use this
//delay(4000); // Uncomment to use this
//alltomax(); // Uncomment to use this
//delay(2000); // Uncomment to use this
//allto90(); // Uncomment to use this
//delay(2000); // Uncomment to use this

}
// Motion to set the servo into "virtual" 0 position: alltovirtual
void alltovirtual() {
servothumb.write(0);
servoindex.write(0);
servomajeure.write(0);
servoringfinger.write(0);
servopinky.write(0);
servowrist.write(0);
servobiceps.write(0);
servorotate.write(20); //Never less then (20 degree)
servoshoulder.write(30); //Never less then (30 degree)
servoomoplat.write(10); //Never less then (10 degree)
servoneck.write(0);
servorothead.write(0);
}
// Motion to set the servo into "rest" position: alltorest
void alltorest() {
servothumb.write(0);
servoindex.write(0);
servomajeure.write(0);
servoringfinger.write(0);
servopinky.write(0);
servowrist.write(0);
servobiceps.write(0);
servorotate.write(90); //Never less then (20 degree)
servoshoulder.write(30); //Never less then (30 degree)
servoomoplat.write(10); //Never less then (10 degree)
servoneck.write(90);
servorothead.write(90);
}

// Motion to set the servo into "max" position: alltomax
void alltomax() {
servothumb.write(180);
servoindex.write(180);
servomajeure.write(180);
servoringfinger.write(180);
servopinky.write(180);
servowrist.write(180);
servobiceps.write(85); //Never more then (85 or 90degree)
servorotate.write(110); //Never more then (110 degree)
servoshoulder.write(130); //Never more then (130 degree)
servoomoplat.write(70); //Never more then (70 degree)
servoneck.write(180);
servorothead.write(180);

}

// Motion to set the servo into "90" position: allto90
void allto90() {
servothumb.write(90);
servoindex.write(90);
servomajeure.write(90);
servoringfinger.write(90);
servopinky.write(90);
servowrist.write(90);
servobiceps.write(90); //Never more then (85 or 90degree)
servorotate.write(90); //Never more then (110 degree)
servoshoulder.write(90); //Never more then (130 degree)
servoomoplat.write(70); //Never more then (70 degree)
servoneck.write(90);
servorothead.write(180);

}