servo(18,255)
servo(27,255)
; Rest position	
call(2)
wait(2)
call(4)
call(4)
call(4)
call(4)
move(28,20,8)
move(19,-20,8)
wait(1)
call(2)
wait(1)
;walk forward
call(0)
call(1)
call(1)
call(1)
call(1)
wait(2)
call(2)
call(3)
call(3)
call(3)
end

sub(0)
; tilt left
move(17,-15,8)
move(26,-40,8)
wait(1)
; tilt more to lift leg
move(17,-25,20)
move(26,0,8)
wait(0.5)
return
sub(1)

;lift right leg forward
move(27,30,2)
move(28,30,2)
wait(0.5)
;move forward
move(19,30,16)
move(18,40,16)
wait(1)
; straight feet
move( 17,-5.4, 8)
wait(0.5)
;tilt right
move(26,20,16)
move(17,20,8)
move(27,20,16)
wait(0.5)
;straight right leg
move(27,0,8)
move(28,0,16)
move(29,-10,8)
move(17,0,8)
wait(1)
;lift left leg fwd
move(19,-30,2)
move(18,-30,2)
wait(0.5)
;move forward
move(29,0,8)
move(28,-30,16)
move(27,-40,16)
wait(1)
; straight feet
move(26,0,8)
wait(0.5)
;tilt left
move(26,-40,16)
wait(0.5)
move(17,-25,16)
move(24,-10,20)
move(18,-10,16)
wait(0.5)
move(26,0,8)
wait(0.5)
;straight left leg
move(24,0,8)
move(18,0,4)
move(19,0,16)
move(26,0,8)
wait(1)
return

;rest
sub(2)
move(17,0,10)
move(18,0,10)
move(19,0,10)
move(24,0,10)
move(26,0,10)
move(27,0,10)
move(28,0,10)
move(29,0,10)
wait(1)
return
; kembot
sub(3)
move(24,20,8)
move(29,20,8)
move(17,20,8)
move(26,20,8)
wait(1)
move(24,-20,8)
move(29,-20,8)
move(17,-20,8)
move(26,-20,8)
wait(1)
return

; kadyot
sub(4)
move(28,-30,8)
move(19,30,8)
move(27,-30,10)
move(18,30,10)
wait(1)
move(28,50,8)
move(19,-50,8)
move(27,20,10)
move(18,-20,10)
wait(1)
return