             delay(DELAY);
         }
 
-        // rotate hip forward
-        for (i = 0; i < MOVE; ++i) {
-            leftHip.writeMicroseconds(LEFT_HIP_MIDDLE+i);
-            delay(DELAY);
-        }
-    
-        for (i = 0; i < MOVE; ++i) {
-            rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE - MOVE*FACTOR+i*FACTOR);
-            leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE - MOVE+i);
-            delay(DELAY);
-        }
-    
-        for (i = 0; i < MOVE; ++i) {
-            rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE+i);
-            leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE+i*FACTOR);
-            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);
-        }
-    
-        for (i = 0; i < MOVE; ++i) {
-            rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE+MOVE-i);
-            leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE+MOVE*FACTOR-i*FACTOR);
-            delay(DELAY);
-        }
-    
-        for (i = 0; i < MOVE; ++i) {
-            rightAnkle.writeMicroseconds(RIGHT_ANKLE_MIDDLE-i*FACTOR);
-            leftAnkle.writeMicroseconds(LEFT_ANKLE_MIDDLE-i);
-            delay(DELAY);
-        }
-
         running = true;
     }
 


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);
    }

    // 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);
    }
}

