--- a/python/gait.py	Mon May 15 20:01:55 2017 +0200
+++ b/python/gait.py	Sun Jul 23 20:23:29 2017 +0200
@@ -2,12 +2,12 @@
 
 
 class Creep:
-    speed = 2
+    speed = 2.3
     stride = 36
-    shift = 12
-    shift_steps = 2
-    raise_leg = 10
-    raise_steps = 2
+    shift = 8
+    shift_steps = 1
+    raise_leg = 30
+    raise_steps = 1
     next_leg = (
         (2, 0, 3, 1),   # forward
         (1, 3, 0, 2),   # backward
@@ -25,35 +25,31 @@
         self.dx = 1
         self.dy = 0
         self.rotation = 0
-        self.spread = 20
-        leg = robot.legs[0]
-        self.height = 20
+        self.spread = 0
+        self.raise_spread = 10
+        self.height = 30
         self.last_leg = 0
 
     def move(self):
-        print("Moving legs backwards")
         for leg in self.on_ground:
             dx = self.dx * leg.x_dir * self.speed
             dy = self.dy * leg.y_dir * self.speed
             leg.move_to(leg.x - dx, leg.y - dy, self.height)
-            #leg.rotate_by(-self.rotation * leg.x_dir * leg.y_dir / 2)
+            leg.rotate_by(-self.rotation * leg.x_dir * leg.y_dir / 2)
         utime.sleep_ms(10)
 
     def step(self, leg):
         dx = (leg.x_dir * self.shift - self.shift_x) / self.shift_steps
         dy = (leg.y_dir * self.shift - self.shift_y) / self.shift_steps
-        print("Shifting body by (%d, %d) %d times" % (dx, dy, self.shift_steps))
         for step in range(self.shift_steps):
             self.robot.move_by(dx, dy, 0)
             self.shift_x += dx
             self.shift_y += dy
             self.move()
         self.on_ground.remove(leg)
-        print("Raising leg by %d %d times" % (self.raise_leg, self.raise_steps))
         for step in range(self.raise_steps):
-            leg.move_by(0, 0, self.raise_leg)
+            leg.move_by(self.raise_spread, self.raise_spread, self.raise_leg)
             self.move()
-        print("Moving leg forward")
         leg.move_to(
             (self.shift_x + self.dx * self.stride) * leg.x_dir + self.spread,
             (self.shift_y + self.dy * self.stride) * leg.y_dir + self.spread,
@@ -61,17 +57,14 @@
         )
         self.move()
         self.move()
-        print("Lowering leg")
         for step in range(self.raise_steps - 1):
             leg.move_by(0, 0, -self.raise_leg)
             self.move()
         self.on_ground.append(leg)
         self.move()
-        print("Leg done")
 
     def run(self, steps):
         for step in range(steps):
-            print("Moving leg %d" % self.last_leg)
             leg = self.robot.legs[self.last_leg]
             self.step(leg)
             self.last_leg = self.next_leg[0][self.last_leg]