+#include "Functions.h"
 #include "Remote_Control.h"
 #include "Leg.h"
 #include "rServo.h"
-#include "routines.h"
 #include "Remote_Control.h"
 #include <LiquidCrystal\LiquidCrystal.h>
 

//{footMin, footMax, shinMin, shingMax, ....., hipMin, hipMax}
int hardLegLimits[5 * 2] = { -25, 15, -40, 80, -40, 80, -40, 80, -15, 70 };

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

		right.leg(rLegTemp);
		left.leg(lLegTemp);

	}
	
	
