🐎 Adds four phase gait

app/src/lib/utilities/math-utilities.ts

@@ -9,3 +9,10 @@ export const toInt8 = (number: number, min: number, max: number) => {
 	let scaled = ((number - min) / (max - min)) * 255 - 128;
 	return Math.max(-128, Math.min(127, Math.round(scaled))) | 0;
 };
+
+export const fromInt8 = (int8: number, min: number, max: number) => {
+	int8 = Math.max(-128, Math.min(127, int8));
+	const scaled = (int8 + 128) / 255;
+	const number = scaled * (max - min) + min;
+	return number;
+};