Princess Sparkle has told her Grade 1 teacher about Stubby, and has offered to bring it in to demonstrate to her classmates - this will be happening this Friday if all goes well.  In the mean time, we started to squash some bugs in the gait code and add some more advanced features.  Today we managed to:

• clean up the main function
  
• add the ability to change delay (affecting the speed of each step) while in the middle of a step
• fix a bug where Stubby could not veer (move slightly to one side or the other) while backing up

We are also attemping to add support for switching gaits at runtime (ripple / tripod currently supported).