Been working on the software for the last few weeks. The new gait generator is coming together I think.. although I still have allot of testing to carry out. It's not as neat or simple as the original gait generator, but I can at least control the legs in a more predictable way. I ran a turning simulation with a pen attached to the simulated hexapod which allowed me to trace the motion, pretty neat! The smallest circle is using the slowest gait, the larger circles were tripod and one/two leg gaits.
You can also see I have spent some time creating the BEV (Birds Eye View) of the hexapod within the simulation screen which has helped a great deal while developing the new gait generator.