 
 	int rLegTemp[5] = { 0 };
 	int lLegTemp[5] = { 0 };
+<<<<<<< HEAD
 
 	/*
 	for (int i = 0; i < 7; i++)

	left.leg(lLegTemp);
	delay(500);
	}*/
	while (true) {
		// check to see if there are enough bytes on the serial line for a message
		if (Serial.available() >= messageLength)

int rightOffSetList[10] = { -25, 15, -40, 80, -80, 45, -40, 80, -15, 70 };
int leftOffSetList[10] = { -25, 15, -40, 80, -80, 45, -40, 80, -15, 70 };

//Pointer to the two walking routines for each leg
int *routine[2] = { rWalk, lWalk };

//Useful for setting leg to center
int ZERO_A[5] = { 0 };

/*
ankle constraint (30,-15)
*/

//Leg is init. leg moves the servoes
int lLeg[5] = { 0, 1, 2, 3, 4 };
int rLeg[5] = { 15, 14, 13, 12, 11 };

Leg right = Leg(rLeg, true);
Leg left = Leg(lLeg, false);


void setup() {
