 Joint rightHip(3, 950, 1300, 1650);
 Joint leftHip(2, 1150, 1500, 1850);
 
+/*
+Joint rightAnkle(5, 950, 1510, 1860);
+Joint leftAnkle(4, 1140, 1490, 2190);
+Joint rightHip(3, 950, 1290, 1650);
+Joint leftHip(2, 1100, 1500, 1930);
+*/
+
 void stepForward();
 
 void setup() {

void loop()
{
    int i = 0;
    int j = 0;

    if (!running)
    {

#include <Servo.h>

#define DELAY 3

struct Joint
{
