--- a/tote.hex	Mon Nov 30 23:48:59 2015 +0100
+++ b/tote.hex	Tue Dec 01 00:28:57 2015 +0100
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--- a/tote.py	Mon Nov 30 23:48:59 2015 +0100
+++ b/tote.py	Tue Dec 01 00:28:57 2015 +0100
@@ -2,10 +2,10 @@
 import struct
 
 from microbit import i2c
+import microbit
 
 
 def _solve_triangle(a, b, c):
-    """Calculate an angle of a triangle using the law of cosines."""
     a, b, c = abs(a), abs(b), abs(c)
     if a + b < c or a + c < b or b + c < a:
         raise ValueError("Impossible triangle: %r, %r, %r" % (a, b, c))
@@ -14,7 +14,6 @@
 
 
 def _norm(a, b):
-    """Calculate the length of a vector."""
     return math.sqrt(a ** 2 + b ** 2)
 
 
@@ -29,23 +28,12 @@
         self.servos = (hip_servo, knee_servo, ankle_servo)
         self.x_dir = x_dir
         self.y_dir = y_dir
-        SQRT2 = math.sqrt(2)
-        self.x = (self.coxa + self.femur) / SQRT2
-        self.y = (self.coxa + self.femur) / SQRT2
+        self.home = (self.coxa + self.femur) / math.sqrt(2)
+        self.x = self.home
+        self.y = self.home
         self.z = -self.tibia
 
-    def move_to(self, x=None, y=None, z=None):
-        """Move the foot to the specified point.
-
-        If any of the coordinates is None, no movement will be done in that
-        axis.
-        """
-        if x is None:
-            x = self.x
-        if y is None:
-            y = self.y
-        if z is None:
-            z = self.z
+    def move_to(self, x, y, z):
         f = _norm(x, y) - self.coxa
         d = _norm(f, z)
         if d > self.femur + self.tibia:
@@ -65,17 +53,15 @@
         self.z = z
 
     def move_by(self, dx=0, dy=0, dz=0):
-        """Move the foot by the specified amount."""
         self.move_to(self.x + dx, self.y + dy, self.z + dz)
 
     def rotate_by(self, degrees):
-        """Rotate the leg around the center of the body horizontally."""
         radians = math.radians(degrees)
         x = self.x + self.base
         y = self.y + self.base
         nx = x * math.cos(radians) - y * math.sin(radians) - self.base
         ny = x * math.sin(radians) + y * math.cos(radians) - self.base
-        self.move_to(nx, ny)
+        self.move_to(nx, ny, self.z)
 
 
 class Robot:
@@ -91,5 +77,81 @@
         for leg in self.legs:
             leg.move_by(dx * leg.x_dir, dy * leg.y_dir, dz)
 
+    def rotate_by(self, degrees):
+        for leg in self.legs:
+            leg.rotate_by(degrees)
+
+
+class Creep:
+    speed = 1
+    stride = 14
+    shift = 8
+    shift_steps = 2
+    raise_leg = 10
+    raise_steps = 3
+    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 = 0
+        self.dy = 1
+        self.rotation = 0
+        self.spread = 0
+        leg = robot.legs[0]
+        self.height = leg.tibia
+
+    def move(self):
+        for leg in self.on_ground:
+            leg.move_to(leg.x - self.dx * leg.x_dir * self.speed,
+                        leg.y - self.dy * leg.y_dir * self.speed,
+                        -self.height)
+            leg.rotate_by(-self.rotation * leg.x_dir * leg.y_dir / 2)
+
+    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
+        for step in range(self.shift_steps):
+            robot.move_by(dx, dy, 0)
+            self.shift_x += dx
+            self.shift_y += dy
+            yield
+        self.on_ground.remove(leg)
+        for step in range(self.raise_steps):
+            leg.move_by(0, 0, self.raise_leg)
+            yield
+        leg.move_to(
+            (leg.home + self.shift_x + self.dx *
+             self.stride) * leg.x_dir + self.spread,
+            (leg.home + self.shift_y + self.dy *
+             self.stride) * leg.y_dir + self.spread,
+            self.raise_leg * self.raise_steps - self.height
+        )
+        yield
+        yield
+        for step in range(self.raise_steps - 1):
+            leg.move_by(0, 0, -self.raise_leg)
+            yield
+        self.on_ground.append(leg)
+        yield
+
+    def run(self, steps):
+        leg_index = 0
+        for step in range(steps):
+            leg = robot.legs[leg_index]
+            for frame in self.step(leg):
+                self.move()
+                microbit.sleep(20)
+            leg_index = self.next_leg[0][leg_index]
+
 
 robot = Robot()