 
 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) {

        leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE - i);
        delay(DELAY);
    }
}


            delay(DELAY);
        }

        running = true;
    }

