@Gule Although we have all of the top hobby robotic hexapod developers here: Kurte, Xan, Zenta, these days with Covid, there’s quite a delay. Matt Denton even pops in every so often. You might want to ask in the thread below since the Phoenix code is being reworked in order to use the Lynxmotion Smart Servos:
Ideally the new code will be equation-based rather than predetermined coordinates.
If it helps, the original PEP spreadsheet and thread:
