 
 void stepForward() {
     int i = 0;
-    
+
+    // rotate to center
     for (i = 0; i < MOVE; ++i) {
         rightHip.writeMicroseconds(RIGHT_HIP_MIDDLE - MOVE + i);
         leftHip.writeMicroseconds(LEFT_HIP_MIDDLE - MOVE + i);
         delay(DELAY);
     }
 
+    // rotate left
     for (i = 0; i < MOVE; ++i) {
         rightHip.writeMicroseconds(RIGHT_HIP_MIDDLE + i);
         leftHip.writeMicroseconds(LEFT_HIP_MIDDLE + i);

        delay(DELAY);
    }

    for (i = 0; i < MOVE; ++i) {
        rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE + i);
        leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE + i * FACTOR);
        delay(DELAY);
    }

    for (i = 0; i < MOVE; ++i) {
        rightHip.writeMicroseconds(RIGHT_HIP_MIDDLE + MOVE - i);
        leftHip.writeMicroseconds(LEFT_HIP_MIDDLE + MOVE - i);
        delay(DELAY);
    }

    for (i = 0; i < MOVE; ++i) {
        rightHip.writeMicroseconds(RIGHT_HIP_MIDDLE - i);
        leftHip.writeMicroseconds(LEFT_HIP_MIDDLE - i);

        delay(DELAY);
    }

    // lean left
    for (i = 0; i < MOVE; ++i) {
        rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE - i * FACTOR);
        leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE - i);
