So I've looked at the code and tried to figure out a way to implement the millis functions, and I know you guys are giving me a very straightforward answer. I guess I'm just not getting it, i understand that it says do something (or don't) after a given interval period and then reset... but that still seems exactly the same as "do something only if Leg = 1" the millis just seems to say "if one second has passed move leg 1" I'm just not seeing benefit... I'm sorry i'm being so stubborn, and i'm really looking for a way to fix this problem.
On the physical side:
The robot needs to take a half-step at the start, and then take full, long, alternating steps. Right now the robot takes a step, then takes another, gets extremely unbalanced, jerks the first foot back, and falls over. I need to be able to change the foot patterns using a set of fairly uncomplicated code. I know it would be easy to write a hundred different functions to call individual steps, but i want re-configurable code. The robot has to run all x and y values through the IK code, translate that into servo positions and then at the end of the full step, the foot has to start moving back as the second foot starts moving forward. Shifting weight is handled in the shift function.
I don't know where to start changing stuff and really can't afford a true rewrite of the code... i guess i'm just being lazy.
Thank you so much for any insight into a solution