diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index b408c3d..9527b95 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -4,254 +4,254 @@ import { fromInt8 } from './utilities';
 const { sin } = Math;
 
 export interface gait_state_t {
-	step_height: number;
-	step_x: number;
-	step_z: number;
-	step_angle: number;
-	step_velocity: number;
-	step_depth: number;
+    step_height: number;
+    step_x: number;
+    step_z: number;
+    step_angle: number;
+    step_velocity: number;
+    step_depth: number;
 }
 
 export interface ControllerCommand {
-	stop: number;
-	lx: number;
-	ly: number;
-	rx: number;
-	ry: number;
-	h: number;
-	s: number;
+    stop: number;
+    lx: number;
+    ly: number;
+    rx: number;
+    ry: number;
+    h: number;
+    s: number;
 }
 
 export abstract class GaitState {
-	protected abstract name: string;
+    protected abstract name: string;
 
-	protected static body_state: body_state_t;
+    protected static body_state: body_state_t;
 
-	public get default_feet_pos() {
-		return [
-			[1, -1, 1, 1],
-			[1, -1, -1, 1],
-			[-1, -1, 1, 1],
-			[-1, -1, -1, 1]
-		];
-	}
+    public get default_feet_pos() {
+        return [
+            [1, -1, 1, 1],
+            [1, -1, -1, 1],
+            [-1, -1, 1, 1],
+            [-1, -1, -1, 1]
+        ];
+    }
 
-	protected get default_height() {
-		return 0.5;
-	}
+    protected get default_height() {
+        return 0.5;
+    }
 
-	begin() {
-		console.log('Starting', this.name);
-	}
-	end() {
-		console.log('Ending', this.name);
-	}
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return body_state;
-	}
+    begin() {
+        console.log('Starting', this.name);
+    }
+    end() {
+        console.log('Ending', this.name);
+    }
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        return body_state;
+    }
 
-	map_command(command: ControllerCommand): gait_state_t {
-		return {
-			step_height: 0.4 + Math.abs(command.ry / 128),
-			step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
-			step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
-			step_velocity: command.s / 128 + 1,
-			step_angle: 0,
-			step_depth: 0.2
-		};
-	}
+    map_command(command: ControllerCommand): gait_state_t {
+        return {
+            step_height: 0.4 + Math.abs(command.ry / 128),
+            step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
+            step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
+            step_velocity: command.s / 128 + 1,
+            step_angle: 0,
+            step_depth: 0.2
+        };
+    }
 }
 
 export class IdleState extends GaitState {
-	protected name = 'Idle';
+    protected name = 'Idle';
 }
 
 export class CalibrationState extends GaitState {
-	protected name = 'Calibration';
+    protected name = 'Calibration';
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
-		body_state.phi = 0;
-		body_state.psi = 0;
-		body_state.xm = 0;
-		body_state.ym = this.default_height * 10;
-		body_state.zm = 0;
-		body_state.feet = this.default_feet_pos;
-		return body_state;
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        body_state.omega = 0;
+        body_state.phi = 0;
+        body_state.psi = 0;
+        body_state.xm = 0;
+        body_state.ym = this.default_height * 10;
+        body_state.zm = 0;
+        body_state.feet = this.default_feet_pos;
+        return body_state;
+    }
 }
 
 export class RestState extends GaitState {
-	protected name = 'Rest';
+    protected name = 'Rest';
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
-		body_state.phi = 0;
-		body_state.psi = 0;
-		body_state.xm = 0;
-		body_state.ym = this.default_height / 2;
-		body_state.zm = 0;
-		body_state.feet = this.default_feet_pos;
-		return body_state;
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        body_state.omega = 0;
+        body_state.phi = 0;
+        body_state.psi = 0;
+        body_state.xm = 0;
+        body_state.ym = this.default_height / 2;
+        body_state.zm = 0;
+        body_state.feet = this.default_feet_pos;
+        return body_state;
+    }
 }
 
 export class StandState extends GaitState {
-	protected name = 'Stand';
+    protected name = 'Stand';
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		body_state.omega = 0;
-		body_state.phi = command.rx / 8;
-		body_state.psi = command.ry / 8;
-		body_state.xm = command.ly / 2 / 100;
-		body_state.zm = command.lx / 2 / 100;
-		body_state.feet = this.default_feet_pos;
-		return body_state;
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        body_state.omega = 0;
+        body_state.phi = command.rx / 8;
+        body_state.psi = command.ry / 8;
+        body_state.xm = command.ly / 2 / 100;
+        body_state.zm = command.lx / 2 / 100;
+        body_state.feet = this.default_feet_pos;
+        return body_state;
+    }
 }
 
 abstract class PhaseGaitState extends GaitState {
-	protected tick = 0;
-	protected phase = 0;
-	protected phase_time = 0;
-	protected abstract num_phases: number;
-	protected abstract phase_speed_factor: number;
-	protected abstract swing_stand_ratio: number;
+    protected tick = 0;
+    protected phase = 0;
+    protected phase_time = 0;
+    protected abstract num_phases: number;
+    protected abstract phase_speed_factor: number;
+    protected abstract swing_stand_ratio: number;
 
-	protected contact_phases!: number[][];
-	protected shifts!: number[][];
+    protected contact_phases!: number[][];
+    protected shifts!: number[][];
 
-	protected body_state!: body_state_t;
-	protected gait_state!: gait_state_t;
-	protected dt = 0.02;
+    protected body_state!: body_state_t;
+    protected gait_state!: gait_state_t;
+    protected dt = 0.02;
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		this.body_state = body_state;
-		this.gait_state = this.map_command(command);
-		this.dt = dt / 1000;
-		this.update_phase();
-		this.update_body_position();
-		this.update_feet_positions();
-		return this.body_state;
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        this.body_state = body_state;
+        this.gait_state = this.map_command(command);
+        this.dt = dt / 1000;
+        this.update_phase();
+        this.update_body_position();
+        this.update_feet_positions();
+        return this.body_state;
+    }
 
-	update_phase() {
-		this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
+    update_phase() {
+        this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
 
-		if (this.phase_time >= 1) {
-			this.phase += 1;
-			if (this.phase == this.num_phases) this.phase = 0;
-			this.phase_time = 0;
-		}
-	}
+        if (this.phase_time >= 1) {
+            this.phase += 1;
+            if (this.phase == this.num_phases) this.phase = 0;
+            this.phase_time = 0;
+        }
+    }
 
-	update_body_position() {
-		if (this.num_phases === 4) return;
+    update_body_position() {
+        if (this.num_phases === 4) return;
 
-		const shift = this.shifts[Math.floor(this.phase / 2)];
+        const shift = this.shifts[Math.floor(this.phase / 2)];
 
-		this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
-		this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
-	}
+        this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
+        this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
+    }
 
-	update_feet_positions() {
-		for (let i = 0; i < 4; i++) {
-			this.body_state.feet[i] = this.update_foot_position(i);
-		}
-	}
+    update_feet_positions() {
+        for (let i = 0; i < 4; i++) {
+            this.body_state.feet[i] = this.update_foot_position(i);
+        }
+    }
 
-	update_foot_position(index: number): number[] {
-		const contact = this.contact_phases[index][this.phase];
-		return contact ? this.stand(index) : this.swing(index);
-	}
+    update_foot_position(index: number): number[] {
+        const contact = this.contact_phases[index][this.phase];
+        return contact ? this.stand(index) : this.swing(index);
+    }
 
-	stand(index: number): number[] {
-		const delta_pos = [
-			-this.gait_state.step_x * this.dt * this.swing_stand_ratio,
-			0,
-			-this.gait_state.step_z * this.dt * this.swing_stand_ratio
-		];
+    stand(index: number): number[] {
+        const delta_pos = [
+            -this.gait_state.step_x * this.dt * this.swing_stand_ratio,
+            0,
+            -this.gait_state.step_z * this.dt * this.swing_stand_ratio
+        ];
 
-		this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
-		this.body_state.feet[index][1] = this.default_feet_pos[index][1];
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
-		return this.body_state.feet[index];
-	}
+        this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+        this.body_state.feet[index][1] = this.default_feet_pos[index][1];
+        this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+        return this.body_state.feet[index];
+    }
 
-	swing(index: number): number[] {
-		const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
+    swing(index: number): number[] {
+        const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
 
-		if (this.gait_state.step_x == 0) {
-			delta_pos[0] =
-				(this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
-		}
+        if (this.gait_state.step_x == 0) {
+            delta_pos[0] =
+                (this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
+        }
 
-		if (this.gait_state.step_z == 0) {
-			delta_pos[2] =
-				(this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
-		}
+        if (this.gait_state.step_z == 0) {
+            delta_pos[2] =
+                (this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
+        }
 
-		this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
-		this.body_state.feet[index][1] =
-			this.default_feet_pos[index][1] +
-			sin(this.phase_time * Math.PI) * this.gait_state.step_height;
-		this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
-		return this.body_state.feet[index];
-	}
+        this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
+        this.body_state.feet[index][1] =
+            this.default_feet_pos[index][1] +
+            sin(this.phase_time * Math.PI) * this.gait_state.step_height;
+        this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
+        return this.body_state.feet[index];
+    }
 }
 
 export class FourPhaseWalkState extends PhaseGaitState {
-	protected name = 'Four phase walk';
-	protected num_phases = 4;
-	protected phase_speed_factor = 2.5;
-	protected contact_phases = [
-		[1, 0, 1, 1],
-		[1, 1, 1, 0],
-		[1, 1, 1, 0],
-		[1, 0, 1, 1]
-	];
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
+    protected name = 'Four phase walk';
+    protected num_phases = 4;
+    protected phase_speed_factor = 6;
+    protected contact_phases = [
+        [1, 0, 1, 1],
+        [1, 1, 1, 0],
+        [1, 1, 1, 0],
+        [1, 0, 1, 1]
+    ];
+    protected swing_stand_ratio = 1 / (this.num_phases - 1);
 
-	begin() {
-		super.begin();
-	}
+    begin() {
+        super.begin();
+    }
 
-	end() {
-		super.end();
-	}
+    end() {
+        super.end();
+    }
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        return super.step(body_state, command, dt);
+    }
 }
 
 export class EightPhaseWalkState extends PhaseGaitState {
-	protected name = 'Eight phase walk';
-	protected num_phases = 8;
-	protected phase_speed_factor = 1.5;
-	protected contact_phases = [
-		[1, 0, 1, 1, 1, 1, 1, 1],
-		[1, 1, 1, 0, 1, 1, 1, 1],
-		[1, 1, 1, 1, 1, 0, 1, 1],
-		[1, 1, 1, 1, 1, 1, 1, 0]
-	];
-	protected shifts = [
-		[-0.3, 0, -0.2],
-		[-0.3, 0, 0.2],
-		[0.3, 0, -0.2],
-		[0.3, 0, 0.2]
-	];
-	protected swing_stand_ratio = 1 / (this.num_phases - 1);
+    protected name = 'Eight phase walk';
+    protected num_phases = 8;
+    protected phase_speed_factor = 4;
+    protected contact_phases = [
+        [1, 0, 1, 1, 1, 1, 1, 1],
+        [1, 1, 1, 1, 1, 0, 1, 1],
+        [1, 1, 1, 1, 1, 1, 1, 0],
+        [1, 1, 1, 0, 1, 1, 1, 1]
+    ];
+    protected shifts = [
+        [-0.05, 0, -0.2],
+        [0.3, 0, -0.2],
+        [-0.05, 0, 0.2],
+        [0.3, 0, 0.2]
+    ];
+    protected swing_stand_ratio = 1 / (this.num_phases - 1);
 
-	begin() {
-		super.begin();
-	}
+    begin() {
+        super.begin();
+    }
 
-	end() {
-		super.end();
-	}
+    end() {
+        super.end();
+    }
 
-	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
-		return super.step(body_state, command, dt);
-	}
+    step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+        return super.step(body_state, command, dt);
+    }
 }
diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
index fec9860..defd10c 100644
--- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
@@ -155,7 +155,7 @@ class FourPhaseWalkState : public PhaseGaitState {
 
     int num_phases() const override { return 4; }
 
-    float phase_speed_factor() const override { return 2.5; }
+    float phase_speed_factor() const override { return 6; }
 
     float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
 
@@ -180,15 +180,15 @@ class EightPhaseWalkState : public PhaseGaitState {
 
     int num_phases() const override { return 8; }
 
-    float phase_speed_factor() const override { return 1.5; }
+    float phase_speed_factor() const override { return 4; }
 
     float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
 
   public:
     EightPhaseWalkState() {
         uint8_t contact[4][8] = {
-            {1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 0, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}};
-        float shift_values[4][3] = {{-0.3f, 0, -0.2f}, {-0.3f, 0, 0.2f}, {0.3f, 0, -0.2f}, {0.3f, 0, 0.2f}};
+            {1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}};
+        float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, -0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, 0.2f}};
         for (uint8_t i = 0; i < 4; ++i) {
             for (uint8_t j = 0; j < 8; ++j) {
                 contact_phases[i][j] = contact[i][j];