Robot.RippelGate6.NextSequence C# (CSharp) Method

        public MovmentComandAX12[] NextSequence(double direction, double stepValue)
        {
            CalculateNextStep(_phoenix.LeftFrontLeg, direction, GetXDistance(stepValue, lflStep), GetYDistance(_stepHeight, lflStep), GetFromPoint(_homePosition.LeftFrontLeg, lflStep, _phoenix.LeftFrontLeg));
            CalculateNextStep(_phoenix.RightFrontLeg, direction, GetXDistance(stepValue, rflStep), GetYDistance(_stepHeight, rflStep), GetFromPoint(_homePosition.RightFrontLeg, rflStep, _phoenix.RightFrontLeg));
            CalculateNextStep(_phoenix.LeftMiddleLeg, direction, GetXDistance(stepValue, lmlStep), GetYDistance(_stepHeight, lmlStep), GetFromPoint(_homePosition.LeftMiddleLeg, lmlStep, _phoenix.LeftMiddleLeg));
            CalculateNextStep(_phoenix.RightMiddleLeg, direction, GetXDistance(stepValue, rmlStep), GetYDistance(_stepHeight, rmlStep), GetFromPoint(_homePosition.RightMiddleLeg, rmlStep, _phoenix.RightMiddleLeg));
            CalculateNextStep(_phoenix.LeftRearLeg, direction, GetXDistance(stepValue, lrlStep), GetYDistance(_stepHeight, lrlStep), GetFromPoint(_homePosition.LeftRearLeg, lrlStep, _phoenix.LeftRearLeg));
            CalculateNextStep(_phoenix.RightRearLeg, direction, GetXDistance(stepValue, rrlStep), GetYDistance(_stepHeight, rrlStep), GetFromPoint(_homePosition.RightRearLeg, rrlStep, _phoenix.RightRearLeg));

            step++;

            return _phoenix.GetMovements();
        }