diff --git a/dat/Limbs1.m b/dat/Limbs1.m
index 4d6709d..a1ee80c 100644
--- a/dat/Limbs1.m
+++ b/dat/Limbs1.m
@@ -1,12 +1,18 @@
 %% Bend the Knees %%
 
-END = 8;
+END  = 4; % total pts: END+1
+GAIN = 3;
+
+GAIN_HIP   = GAIN;
+GAIN_KNEE  = GAIN;
+GAIN_ANKLE = GAIN;
 
 % setup vars
-t         = 0 : 1 : END;
-pos_hip   = [0, -1, 0, 0, 0, 0, 0, 0, 0];
-pos_knee  = [0, 2, 0, 0, 0, 0, 0, 0, 0];
-pos_ankle = [0, -0.5, 0, 0, 0, 0, 0, 0, 0];
+t = 0 : 1 : END;
+% yeah im lost
+pos_hip   = [0, -1, -3, -1, 0];
+pos_knee  = [0, 1, 3, 1, 0];
+pos_ankle = [0, 1, 3, 1, 0];
 
 % generate graph lines
 querypts_hip   = 0 : 0.001 : END;
diff --git a/slprj/sim/varcache/t1a/checksumOfCache.mat b/slprj/sim/varcache/t1a/checksumOfCache.mat
index 3f54103..a448b4b 100644
Binary files a/slprj/sim/varcache/t1a/checksumOfCache.mat and b/slprj/sim/varcache/t1a/checksumOfCache.mat differ
diff --git a/slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml b/slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml
index 50d782a..8e207fd 100644
--- a/slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml
+++ b/slprj/sim/varcache/t1a/tmwinternal/simulink_cache.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/1.0">
-  <slcache.FileAttributes type="slcache.FileAttributes" uuid="0864d632-81a3-42ed-86ec-d0007daae2e8">
-    <checksum>VYmjymqAiZnEQPQ/JoxiVdaoPdtp0RIrtiitM5E1z2FVMw/EgxEHyTMxm2QxcImOc64yuxzSxuq1TWsl/aI++g==</checksum>
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="f0d0070e-2f48-4206-8d75-64b33eb3176f">
+    <checksum>S3NKbLeBQqB6QVgTLl49Nt4PQ6AZpJkYWaYF+vY8SPpi7rqFjd7Pcd7eSZX8MtpSb2435E0MeLXhpBx3z0bNPw==</checksum>
   </slcache.FileAttributes>
 </MF0>
\ No newline at end of file
diff --git a/slprj/sim/varcache/t1a/varInfo.mat b/slprj/sim/varcache/t1a/varInfo.mat
index a7a1c98..5952583 100644
Binary files a/slprj/sim/varcache/t1a/varInfo.mat and b/slprj/sim/varcache/t1a/varInfo.mat differ
diff --git a/t1a.slx b/t1a.slx
index e3d60a5..578a0d9 100644
Binary files a/t1a.slx and b/t1a.slx differ
diff --git a/t1a.slxc b/t1a.slxc
index f61dbb8..afd07a3 100644
Binary files a/t1a.slxc and b/t1a.slxc differ