diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index af074eb..41c867c 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -89,7 +89,7 @@ class Hexapod(Thread):
         self.leg_0 = Leg(0,
                          [self.pca_left.servo[15], self.pca_left.servo[2],
                              self.pca_left.servo[1]],
-                         correction=[4, 4, 4])
+                         correction=[4, 6, 2])
         # center right
         self.leg_1 = Leg(1,
                          [self.pca_left.servo[7], self.pca_left.servo[8],
@@ -99,22 +99,22 @@ class Hexapod(Thread):
         self.leg_2 = Leg(2,
                          [self.pca_left.servo[0], self.pca_left.servo[14],
                              self.pca_left.servo[13]],
-                         correction=[8, 6, -1])
+                         correction=[2, 8, -1])
         # rear left
         self.leg_3 = Leg(3,
                          [self.pca_right.servo[15], self.pca_right.servo[1],
                              self.pca_right.servo[2]],
-                         correction=[-5, 8, -6])
+                         correction=[-3, 10, -8])
         # center left
         self.leg_4 = Leg(4,
                          [self.pca_right.servo[7], self.pca_right.servo[6],
                              self.pca_right.servo[8]],
-                         correction=[-8, 2, -1])
+                         correction=[-6, 2, -4])
         # front left
         self.leg_5 = Leg(5,
                          [self.pca_right.servo[0], self.pca_right.servo[13],
                              self.pca_right.servo[14]],
-                         correction=[0, 0, -8])
+                         correction=[0, 0, -10])
 
         # self.leg_0.reset(True)
         # self.leg_1.reset(True)
@@ -150,7 +150,7 @@ class Hexapod(Thread):
         # self.leg_0.set_angle(1, 30)
 
         # for mm in range(0, 10):
-        #     self.move(self.forward_path, 0.005)
+        self.move(self.forward_path)
         # for mm in range(0, 10):
         #     self.move(self.backward_path, 0.005)
         # for mm in range(0, 10):