#include <Servo.h>
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;


int i = 0;

int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos; // Positions initiales des servomoteurs

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600); // Commande initialisant la communication série entre l'ordinateur et l'arduino

  // Série de commande  liant les servomoteurs aux broches de l'arduino
  servo1.attach(5); // Cette commande lie le servomoteur "servo1" à la broche "5"
  servo2.attach(6);
  servo3.attach(7);
  servo4.attach(8);
  servo5.attach(9);
  servo6.attach(10);

  
  servo1.write(55);
  servo2.write(120);
  servo3.write(120);
  servo4.write(80);
  servo5.write(5);
  servo6.write(80); 

  delay(1000);

}

void loop() {
  Serial.println ("DEBUT DE PHASE 1");
  for (i = 0; i < 130; i++) {
    if (i <= 75)
    {
      servo1.write (55+(i*50/75));
      servo2.write ( 120 - i );
      if (i <= 30)
      {
        servo3.write ( 120 - i );
      }
    }
    else
    {
      servo6.write ((80+75)-i);
    }

      delay(15); 
    }
    Serial.println("FIN DE PHASE 1");

    Serial.println("DEBUT DE PHASE 2");
    

    for (i = 0; i <= 30; i++)
    {
      servo3.write(90 - i);

      delay(25);
    }
    for (i = 0; i <= 100; i++)
    {
      servo1.write(105 - i);

      delay(25);
    }
    for (i = 0; i <= 15; i++)
    {
      servo3.write(60 + i);

      delay(25);
    }
    for (i = 0; i <= 55; i++)
    {
      servo6.write (25 + i);

      delay(25);
    }
    
    Serial.println("FIN DE PHASE 2");

    Serial.println("DEBUT DE PHASE 3");

    for (i = 0; i <= 75; i++)
    {      
      servo1.write (5+ ( i * 50 / 75 ));
      servo2.write (45 + i);
      servo3.write (75 + ( i * 45 / 75 ));
      delay(25);
    }

    Serial.println("FIN DE PHASE 3");

}