int sweepfwd[] = {60,80,80,90,90,90};
int sweepaft[] = {90,90,90,80,80,60};
int heaveup[]  = {180,180,180,180,180,180};
int heavedn[]  = {160,160,160,160,160,160};

#include <SoftwareSerial.h>

SoftwareSerial mySerial(9, 10); // RX, TX

void flashLEDs(int i,int j) {
  i = abs(i-1);
  j = abs(j-1);
  delay(100);
  digitalWrite(7,HIGH); digitalWrite(8,HIGH);
  delay(100);
  digitalWrite(7,i); digitalWrite(8,j);
}

void commandLeg(String commandString) {
    flashLEDs(0,1);
    mySerial.println(commandString);
    flashLEDs(1,0);
    delay(100);
  
}
void setup() {
  // set the data rate for the SoftwareSerial port
  mySerial.begin(1200);
  pinMode(7,OUTPUT);
  pinMode(8,OUTPUT);

  String commandString = "N8 speak 005";
  commandLeg(commandString);
}

void loop() { // run over and over

  int leg=0;
  String commandString;
  for (int i=1;i<7;i++) {
    leg = i;
    commandString = "N7 heave 120";
    commandLeg(commandString);
    commandString = "N7 swing 90";
    commandLeg(commandString);
  }
}