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Hi George! Glad you are enjoying my design.

The "duration" parameter defines the walking speeds. Find the line in the compute_strides() routine:

if(gait_speed == 0) duration = 1080;

You can change 1080 in that line to a smaller number to make the hexapod walk faster.

The duration parameter is subdivided into numTicks in the four gait engines, and numTicks in turn defines how many movement steps the individual leg movements go through for one complete cycle. For example, in the wave_gait() routine, numTicks is calculated to be 9 for a duration input of 1080 (1080/20/6 = 9). I recommend keeping duration to be a multiple of 120 so this math works out cleanly, although there is a round() function in the code, so it shouldn't really matter. If you go too small, the foot won't raise and lower properly as it goes through its movements.

Try changing the 1080 in the code to 960, 840, 720, 600, or 480 for a faster gait.