--- a/start/creep.ino	Sun Jun 28 23:35:42 2015 +0200
+++ b/start/creep.ino	Tue Jun 30 18:05:23 2015 +0200
@@ -5,17 +5,17 @@
 
 
 /* Creep gait parameters. */
-#define SPEED 1
+const float SPEED = 1;
 /* How far forward to move them when making a step? */
-#define STRIDE 14.0
+const float STRIDE = 14.0;
 /* How much to shift the body? */
-#define SHIFT 8.0
+const float SHIFT = 8.0;
 /* In how many steps should the body be shifted? */
-#define SHIFT_STEPS 2
+const unsigned char SHIFT_STEPS = 2;
 /* How fast to raise the leg. */
-#define RAISE 10.0
+const float RAISE = 10.0;
 /* In how many steps. */
-#define RAISE_STEPS 3
+const unsigned char RAISE_STEPS = 3;
 
 /* Given current leg, which leg to move next? */
 const unsigned char _NEXT_LEG[6][4] = {

--- a/start/servos.ino	Sun Jun 28 23:35:42 2015 +0200
+++ b/start/servos.ino	Tue Jun 30 18:05:23 2015 +0200
@@ -8,15 +8,15 @@
 
 static const unsigned char SERVO_PINS[SERVOS] = {
 // ankle, knee, hip
-    12, 11, 10,     // front left
-    14, 15, 16,     // hind left
-    6, 5, 4,        // hind right
-    7, 8, 9         // front right
+//    12, 11, 10,     // front left
+//    14, 15, 16,     // hind left
+//    6, 5, 4,        // hind right
+//    7, 8, 9         // front right
 
-//    16, 15, 14,     // front left
-//    17, 18, 19,     // hind left
-//    9, 8, 7,        // hind right
-//    10, 11, 12      // front right
+    16, 15, 14,     // front left
+    17, 18, 19,     // hind left
+    9, 8, 7,        // hind right
+    10, 11, 12      // front right
 };
 static const char SERVO_REVERSE[SERVOS] = {
 // ankle, knee, hip