i changed same parameters to speed up my hexapod. i ve entered:
printf("LH1000 LM1400 LL1800 RH2000 RM1600 RL1200 **VS5500** \r");
printf("LF1700 LR1300 RF1300 RR1700 **HT800** \r");
these codes help me to increase my hexapod speed, but in this case my robot became very unstable.
—MY QUESTÄ°ON is ; there ara any relation between VS and HT. for example, maybe if you set HT800, you have to enter VS6000, otherwise your robot became very unstable… is there any table etc??
Thank for your help my friens…
im not sure if there is a table, although this would be a nice idea to print one up. jim?
i can understand how it may become unstable and even eventually shake its self apart, but i would think about not only adjusting the speed of the servos but the horizontal “ranges” as well. The valid range for the arguments is 500 to 2500uS.
im thinking that if the legs are making larger steps you will gain more ground, thus in combination with speed you should gain a more stable gait.
“larger steps you will gain more ground” i ll try it tomorrow thanks . but this will not solve my unstable gait 
The most efficient and stable gait for an in-line 2DOF hexapod will be specific to the robot hardware configuration you have, from the length of the leg segments to the COG of the bot. The best gait must be established by trial and error. With this system you have control of every aspect of the alternating tripod gait. You must find the values that make the best walking gait by trying values, critiquing the results and making additional changes. You are in the best position to do this. No one else…
