 void loop()
 {
     int i = 0;
-    int j = 0;
 
     if (!running)
     {

Joint rightHip(3, 950, 1300, 1650);
Joint leftHip(2, 1150, 1500, 1850);

void stepForward();

void setup() {


void stepForward() {
    int i = 0;

    // left step
    for (i = 0; i < leftAnkle.distMinToMiddle; ++i)
