 		right.leg(rLegTemp);
 		left.leg(lLegTemp);
 
-		lcd.setCursor(0, 0);
-		lcd.print("        ");
-		lcd.setCursor(0, 1);
-		lcd.print("        ");
 	}
 	
 	

//{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() {


void loop() 
{
	lcd.setCursor(0, 0);
	lcd.print("Welcome ");
	lcd.setCursor(0, 1);
	lcd.print("User");

	int rLegTemp[5] = { 0 };
	int lLegTemp[5] = { 0 };

	/*
	for (int i = 0; i < 7; i++)
	{
	for (int j = 0; j < 5; j++)
	{
	//right leg
	//rLegTemp[j] = rWalk[i*SERVOS + j];
	//lLegTemp[j] = rWalk[i*SERVOS + j + 5];
	rLegTemp[j] = 0;
	lLegTemp[j] = 0;
	}
	right.leg(rLegTemp);
	left.leg(lLegTemp);
	delay(500);
	}*/
	while (true) {
		// check to see if there are enough bytes on the serial line for a message
		if (Serial.available() >= messageLength)
