--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/python/gait.py	Mon May 15 16:36:08 2017 +0200
@@ -0,0 +1,77 @@
+import utime
+
+
+class Creep:
+    speed = 2
+    stride = 36
+    shift = 12
+    shift_steps = 2
+    raise_leg = 10
+    raise_steps = 2
+    next_leg = (
+        (2, 0, 3, 1),   # forward
+        (1, 3, 0, 2),   # backward
+        (1, 2, 3, 0),   # clockwise
+        (3, 0, 1, 2),   # counter-clockwise
+        (2, 3, 1, 0),   # left
+        (3, 2, 0, 1),   # right
+    )
+
+    def __init__(self, robot):
+        self.robot = robot
+        self.shift_x = 0
+        self.shift_y = 0
+        self.on_ground = list(robot.legs)
+        self.dx = 1
+        self.dy = 0
+        self.rotation = 0
+        self.spread = 20
+        leg = robot.legs[0]
+        self.height = 20
+        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)
+        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)
+            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,
+            self.raise_leg * self.raise_steps + self.height
+        )
+        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]