/* Sweep
  by BARRAGAN <http://barraganstudio.com>
  This example code is in the public domain.

  modified 8 Nov 2013
  by Scott Fitzgerald
  http://www.arduino.cc/en/Tutorial/Sweep
*/

#include <Servo.h>
unsigned long duration,temp_duration = 0;
Servo servo1;  // create servo object to control a servo
Servo servo2;
Servo servo3;
Servo servo4;
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

void setup() {
    Serial.begin(9600);
  servo1.attach(9, 0, 180); // attaches the servo on pin 9 to the servo object
  servo2.attach(8, 0, 180);
  servo3.attach(7, 0, 180);
  servo4.attach(6, 0, 180);
  pinMode(10, INPUT);


}

void extend ()
{
  for (pos = 100; pos <= 180; pos += 1) {
    // in steps of 1 degree
    servo1.write(pos);
    servo2.write(pos);
    servo3.write(pos);
    servo4.write(pos);
    delay(10);
  }
}
void retract ()
{
  for (pos = 180; pos >= 100; pos -= 1) {
    servo1.write(pos);
    servo2.write(pos);
    servo3.write(pos);
    servo4.write(pos);
    delay(10);
  }
}



void loop() {
  
temp_duration = duration;  
duration = pulseIn(10, HIGH);

if ((temp_duration/100) != (duration/100) and (duration - temp_duration > 50  )
{
  Serial.println(duration);
  if(((duration/100)==12) or ((duration/100)==13) )
  {
    extend();
  }
  else 
  {
    retract();
  }
}

//Serial.println(duration);
  //extend();
  //retract();

}