--- a/katka/katka.ino	Sat Sep 13 11:48:59 2014 +0200
+++ b/katka/katka.ino	Sat Sep 13 12:04:56 2014 +0200
@@ -19,16 +19,16 @@
 //  reverse, trim
 
     // hind right
-    {-1, -15}, // ankle
+    {-1, 5}, // ankle
     {1, 0},  // knee
 
     // front right
-    {-1, -5}, // ankle
+    {-1, 5}, // ankle
     {1, -5}, // knee
 
     // front left
     {-1, 0}, // knee
-    {1, -5}, // ankle
+    {1, 0}, // ankle
 
     // hind left
     {-1, 0}, // knee
@@ -85,12 +85,6 @@
     char trim = JOINTS[joint][1];
     freq = min(SERVO_FREQ_MAX, max(SERVO_FREQ_MIN, freq + trim * 10));
     servos[joint].writeMicroseconds(freq);
-    Serial.print(int(joint));
-    Serial.print(':');
-    Serial.print(freq);
-    Serial.print(' ');
-    Serial.print(rads / PI * 180);
-    Serial.print('\n');
 }
 
 bool move_leg(char leg, double x, double y) {
@@ -104,15 +98,12 @@
 }
 
 void setup() {
-    Serial.begin(9600);
-    Serial.print("hello\n");
-
     for (char servo = 0; servo < MAX_SERVO; ++servo) {
         servos[servo].attach(servo + SERVO_PIN_MIN,
                              SERVO_FREQ_MIN, SERVO_FREQ_MAX);
     }
     for (char leg = 0; leg < 4; ++leg) {
-        move_leg(leg, HOME_X, HOME_Y);
+        move_leg(leg, HOME_X * LEGS[leg][2], HOME_Y);
         delay(150);
     }
 }