updated walk and controller input to joystick

Assets/Foot.cs

@@ -1,6 +1,4 @@
 using System;
-using System.Collections;
-using System.Collections.Generic;
 using UnityEngine;
 
 public class Foot : Component
@@ -19,7 +17,9 @@ public class Foot : Component
     //  Inverse Kinemetics Region
     double l3, s;
 
-    double l1=10, l2=15;
+    public double l1=10; // top leg length
+    public double l2=15; // bottom leg length
+    static float knie_offset = 5.5f; // distancce from horziontal servo to knee servo.
 
     public double X, Y, Z;
     public double rotationX=0, rotationY=0, rotationZ=0;
@@ -28,8 +28,6 @@ public class Foot : Component
     public Vector3 transformation = new Vector3(0, 0, 0);
     public Vector3 transformation2 = new Vector3(0, 0, 0);
 
-    static float knie_offset = 5.5f;
-
     void RL3()
     {
         if ((X == 0) && (Z == 0))