arduino程序代码无法正常带动机器狗行走

要做机器狗然后看到一个pupper的小型狗有一份开源的代码，但不知道为什么这份代码导入到开发板后自己的狗舵机只是隔一会动一下没起到行走的目的

#include <Servo.h>

Servo s[12];
int zeroPositions[12] = {90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90};
int directions[12] = {-1, -1, -1, -1, +1, +1, +1, -1, -1, +1, +1, +1};

const float l = 5;
const float L = 14.5;

void pos(float x, float y, float z, int leg){
float groinRadians = atan(y/z);
float groinDegrees = groinRadians * (180/PI);

float hipRadians1 = atan(x/z);

float z1 = sqrt(sq(z) + sq(y) + sq(x));

float hipRadians2 = acos(z1/(2*l));
float hipDegrees = (hipRadians1 + hipRadians2) * (180/PI);

float kneeRadians = PI - 2*hipRadians2;
float kneeDegrees = 180 - kneeRadians * (180/PI);

// Serial.println(groinDegrees);
// Serial.println(hipDegrees);
// Serial.println(kneeDegrees);

s[3leg].write(zeroPositions[3leg] + directions[3leg]groinDegrees);
s[3leg+1].write(zeroPositions[3leg+1] + directions[3leg+1]hipDegrees);
s[3leg+2].write(zeroPositions[3leg+2] + directions[3*leg+2]*kneeDegrees);
}

void translate(float x, float y, float z){
for (int leg = 0; leg<=3; leg++){
pos(x,y,z,leg);
}
}

void rotate(float theta){
float thetaRadians = theta * (PI/180);
float d = tan(thetaRadians) * (L/2);

Serial.println(d);

pos(0,0,8.0+d,0);
pos(0,0,8.0+d,1);
pos(0,0,8.0-d,2);
pos(0,0,8.0-d,3);
}

void takeStep(float stepSpeed, float stepLength){
pos(+stepLength,0,9,0);
pos(-stepLength,0,9,1);
pos(-stepLength,0,9,2);
pos(+stepLength,0,9,3);
delay(stepSpeed);
pos(+stepLength,0,8,0);
pos(-stepLength,0,9,1);
pos(-stepLength,0,9,2);
pos(+stepLength,0,8,3);
delay(stepSpeed);
pos(-stepLength,0,8,0);
pos(+stepLength,0,9,1);
pos(+stepLength,0,9,2);
pos(-stepLength,0,8,3);
delay(stepSpeed);
pos(-stepLength,0,9,0);
pos(+stepLength,0,9,1);
pos(+stepLength,0,9,2);
pos(-stepLength,0,9,3);
delay(stepSpeed);
pos(-stepLength,0,9,0);
pos(+stepLength,0,8,1);
pos(+stepLength,0,8,2);
pos(-stepLength,0,9,3);
delay(stepSpeed);
pos(+stepLength,0,9,0);
pos(-stepLength,0,8,1);
pos(-stepLength,0,8,2);
pos(+stepLength,0,9,3);
delay(stepSpeed);
}

void sideStep(){
pos(0,0,8,0);
pos(0,0,8,1);
pos(0,0,8,2);
pos(0,0,8,3);
delay(100);
pos(0,0,10,0);
pos(0,2,8,1);
pos(0,0,10,2);
pos(0,2,8,3);
delay(100);
pos(0,3,9,0);
pos(0,-3,9,1);
pos(0,3,9,2);
pos(0,-3,9,3);
delay(500);
pos(0,0,9,0);
pos(0,-3,9,1);
pos(0,0,9,2);
pos(0,-3,9,3);
delay(100);
pos(0,0,9,0);
pos(0,0,9,1);
pos(0,0,9,2);
pos(0,0,9,3);
delay(1000);
}

void setup() {
// put your setup code here, to run once:
delay(1000);
Serial.begin(9600);
for(int i=0; i<12; i++){
s[i].attach(i+2);
delay(100);
}
for(int i=0; i<12; i++){
s[i].write(zeroPositions[i]);
delay(100);
}
translate(-5,0,5);
delay(5000);
translate(0,0,9);
delay(5000);
translate(-5,0,5);
delay(5000);
}

void loop() {
// put your main code here, to run repeatedly:

delay(1000);
}

希望能帮忙看一下

你把等待时间缩短或去掉