Snake Robot moves faster - sideways

Snake Robot - moving faster. I would say "baby steps" meaning improvements in small steps except that snakes do not step, they have "gaits", so this is progressing by "baby gaits".

System voltage is up from 5V to 6V to get more servo torque. Achieved by replacing step-down "buck" voltage regulators with "buck-boost" regulators which have both step up and step down capability. This means that they can maintain 6V over the range of 2-cell lithium battery supply voltage: starting at 8.4V and dropping in use as they drain to the lowest operational limit of 6.4V.

More important: A new programming approach for gaits that makes development easier and the code more self documenting. With this comes the programming of new gaits that perform well along my workbench but not so well across the floor. Except for "rectilinear reverse inchworm double wave ripple" which does move faster, but sideways, which is a surprise, very different to the programming good intentions. Great movement, now we only need to sort out the lesser issue of going where we command.

XMSnakeRobot is an open source project (Apache License) with programming code and designs published on "Github".
https://github.com/manukautech/XMSnakeRobot

Gait coding:
https://github.com/manukautech/XMSnakeRobot/tree/master/CodeBrainAndroidJavaScriptDroidScript/XMSnakeV06

Coding in JavaScript for the best gait so far, the "rectilinear reverse inchworm double wave ripple", is pasted below.
Gait "functions" now consist of data in arrays specifying cycles of servo angles. These arrays are interpreted by common code in the main program.

function Gait02() {

    var vert = [
        [-30,  20,  20, -20,   0, -20,  20,  20, -20,   0],
        [-10, -20,  20,  20, -20,   0, -20,  20,  20, -22],
        [-10,   0, -20,  20,  20, -20,   0, -20,  20,  15],
        [-10,   0,   0, -20,  20,  20, -20,   0, -20,  40],
        [-30,  40, -20,   0, -20,  20,  20, -20,   0,   0]
    ];

    var horiz = [
        [  0,   0,   0,   0,   0,   0,   0,   0,   0,   0],
        [  0,   0,   0,   0,   0,   0,   0,   0,   0,   0],
        [  0,   0,   0,   0,   0,   0,   0,   0,   0,   0],
        [  0,   0,   0,   0,   0,   0,   0,   0,   0,   0],
        [  0,   0,   0,   0,   0,   0,   0,   0,   0,   0]
    ];

    return [vert, horiz];
}