 void loop()
 {
     int i = 0;
-    int j = 0;
 
     if (!running)
     {

Joint rightHip(3, 950, 1300, 1650);
Joint leftHip(2, 1150, 1500, 1850);

void stepForward();

void setup() {

#include <Servo.h>

#define DELAY 3

struct Joint
{
