public void Movement()
        {
           // all meausurements are in inches
            float liftHeight = 1.5f;
            float walkLength = 3.0f;
            int[] frames = new int[4] { 9, 3, 6, 0 };
            int frameCount = 12;
            float divFactor = 9;

            // initial
            shadow.legs[Shadow.FL].Position = new Vector3D(shadow.legs[Shadow.FL].Position.x,
                shadow.legs[Shadow.FL].Position.y, 1.5f);
            shadow.legs[Shadow.FR].Position = new Vector3D(shadow.legs[Shadow.FR].Position.x,
                shadow.legs[Shadow.FR].Position.y, -0.5f);
            shadow.legs[Shadow.RL].Position = new Vector3D(shadow.legs[Shadow.RL].Position.x,
                shadow.legs[Shadow.RL].Position.y, -0.5f);
            shadow.legs[Shadow.RR].Position = new Vector3D(shadow.legs[Shadow.RR].Position.x,
                shadow.legs[Shadow.RR].Position.y, -1.5f);
            shadow.RefreshHardware();
            System.Threading.Thread.Sleep((int)(shadow.LastMovementTime));
            Dump();


                for (int frame = 0; frame < frameCount; frame++)
                {
                    // 0 = FL, 1 = FR, 2 = RL, 3 = RR
                    for (int leg = 0; leg < 4; leg++)
                    {
                        if (frame == frames[leg])
                        {
                            shadow.legs[leg].Position += new Vector3D(0, liftHeight, 0);
                        }
                        else if (frame == frames[leg] + 1)
                        {
                            var pos = shadow.legs[leg].Position;
                            pos.z = walkLength / 2.0f;
                            shadow.legs[leg].Position = pos;
                        }
                        else if (frame == frames[leg] + 2)
                        {
                            shadow.legs[leg].Position += new Vector3D(0, -liftHeight, 0);
                        }
                        else
                        {
                            var amount = walkLength / divFactor;
                            shadow.legs[leg].Position -= new Vector3D(0, 0, amount);
                        }
                    }

                    Logger.Instance.Log("Frame {0}", frame);
                    Dump();
                    shadow.RefreshHardware();
                    System.Threading.Thread.Sleep((int)(shadow.LastMovementTime - 10));
                }
        }