Basic walker

Basic proof of concept I made.

Problems:
When doing a quick walk cycle, front legs bounce a small amount after touching the ground
Body is very unstable when moving quick
Cant figure out how to make the vizzy code always see if act. 1 is on or off, leading to manual control after you turn it off the second time.

Things I plan to add:
Reverse
Sideways/crab walking
Automatic leg stopping when the bottom of it hits a raised surface (front half on climbing onto platform wont push the bottom half down)
An attempt at getting it to go over 2m/s, not sure how considering the rotor simply cant move that fast.
Better legs/feet
Suspension