I Completely Scrapped My Hexapod's Code

I'm building an Arduino powered hexapod from scratch, and this video goes over the complete code refactoring I went through, allowing me to easily add 3 new gaits! My new code added the ability to change each legs offset in its walk cycle. It also added a way to change the amount of time each leg was on the ground. The combination of these 2 things lets me create new gaits within minutes. The 3 new gaits I made are Wave Gait, Ripple Gait, and Bi Gait. Wave Gait is where only one leg is off the ground at any one time. Ripple Gait is like tri gait, but where no legs are in sync. And finally, Bi gait is where only 2 legs are touching the ground at any one time. I know I said this video would be on attack mode, sorry! I promise that it will probablyyy be covered in the next one! Bipod Gait Video: 0:00 Intro 0:13 Attack Mode? 0:43 Strafing and Turning 1:34 The Refactor 3:26 Wave Gait 4:10 Ripple Gait 4:42 Bi Gait 5