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hexapod logic

ligtblue: left legs forwards/backwards
darkblue: left legs up/down
lightgreen: right legs forwards/backwards
darkgreen: right legs up/down

or-gates under the switches are the inputs. Feel free to change their gate type if that is better for your inputs

to go 2x speed: remove 1 sec from left/right timers and set the central timer to 0.5 secs (20 ticks)