public MovmentComandAX12[] NextSequenceRotation(double stepValue, double centerX, double centerZ)
{
CalculateNextStepRotation(_phoenix.LeftFrontLeg, GetDegrees(lflStep, stepValue), GetYDistance(_stepHeight, lflStep),
GetFromPoint(_homePosition.LeftFrontLeg, lflStep, _phoenix.LeftFrontLeg), centerX, centerZ);
CalculateNextStepRotation(_phoenix.RightFrontLeg, GetDegrees(rflStep, stepValue), GetYDistance(_stepHeight, rflStep),
GetFromPoint(_homePosition.RightFrontLeg, rflStep, _phoenix.RightFrontLeg), centerX, centerZ);
CalculateNextStepRotation(_phoenix.LeftMiddleLeg, GetDegrees(lmlStep, stepValue), GetYDistance(_stepHeight, lmlStep),
GetFromPoint(_homePosition.LeftMiddleLeg, lmlStep, _phoenix.LeftMiddleLeg), centerX, centerZ);
CalculateNextStepRotation(_phoenix.RightMiddleLeg, GetDegrees(rmlStep, stepValue), GetYDistance(_stepHeight, rmlStep),
GetFromPoint(_homePosition.RightMiddleLeg, rmlStep, _phoenix.RightMiddleLeg), centerX, centerZ);
CalculateNextStepRotation(_phoenix.LeftRearLeg, GetDegrees(lrlStep, stepValue), GetYDistance(_stepHeight, lrlStep),
GetFromPoint(_homePosition.LeftRearLeg, lrlStep, _phoenix.LeftRearLeg), centerX, centerZ);
CalculateNextStepRotation(_phoenix.RightRearLeg, GetDegrees(rrlStep, stepValue), GetYDistance(_stepHeight, rrlStep),
GetFromPoint(_homePosition.RightRearLeg, rrlStep, _phoenix.RightRearLeg), centerX, centerZ);
step++;
return _phoenix.GetMovements();
}