im not really sure

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;