diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
index 5df4b81..5c6dedd 100644
--- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
+++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-shm
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5b87e0aea8f57f9afcffeeea959d9d5b13096fae5391f81a94f7e9694bb8aaa
+oid sha256:4d594c616b0eb44e6b6f7b9ec1d4cba6468f7fc2519ad2ce517541d0ecb26e9a
 size 32768
diff --git a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
index dcc869e..37d99f5 100644
--- a/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
+++ b/2018-unity-sim/.vs/Hexapod/v15/Server/sqlite3/storage.ide-wal
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0c126c2227bb98418c09496e3947d76db4257919f65046cedba9b2e1b8e9716
+oid sha256:cbd9fdc6275465a9b1715e2ab62259322eee14a7b04282e195f4ac025bff3255
 size 4140632
diff --git a/2018-unity-sim/Assets/Main.unity b/2018-unity-sim/Assets/Main.unity
index 46bcf37..2f3e2f3 100644
--- a/2018-unity-sim/Assets/Main.unity
+++ b/2018-unity-sim/Assets/Main.unity
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cccf856e8bc96b9a519d22d7f282f3b9c28a8c17a6ee9109118d5071805e88d0
-size 9969207
+oid sha256:b58d8e9b8bde13d367cf00d433c5a643695c6ae1e342bcbf448a7be16f5c7b34
+size 9969204
diff --git a/2018-unity-sim/Assets/Serial.cs b/2018-unity-sim/Assets/Serial.cs
index d082e17..39e31ba 100644
--- a/2018-unity-sim/Assets/Serial.cs
+++ b/2018-unity-sim/Assets/Serial.cs
@@ -29,47 +29,37 @@ public class Serial {
 
     public void send(int start, int a, int b, int c)
     {
+        if (serialPort == null)
+        {
+            serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
+
+            try
+            {
+                serialPort.Open();
+                serialPort.DiscardOutBuffer();
+                serialPort.DiscardInBuffer();
+
+                enabled = true;
+            }
+            catch
+            {
+                enabled = false;
+            }
+        }
+
         if (enabled)
         {
-            if (serialPort == null)
-            {
-                serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
-
-                try
-                {
-                    serialPort.Open();
-                    serialPort.DiscardOutBuffer();
-                    serialPort.DiscardInBuffer();
-                }
-                catch
-                {
-                    enabled = false;
-                }
-            }
-
             if (serialPort is SerialPort)
             {
-
-                serialPort.Write(" #");
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(a.ToString());
-
+                string send = " #" + start.ToString() + " P" + a.ToString();
                 start++;
-
-                serialPort.Write(" #");
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(b.ToString());
-
+                send = send + " #" + start.ToString() + " P" + b.ToString();
                 start++;
+                send = send + " #" + start.ToString() + " P" + c.ToString();
 
-                serialPort.Write(" #");
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(c.ToString());
+                send = send + " \r";
 
-                serialPort.Write(" \r");
+                serialPort.Write(send);
             }
         }
     }
diff --git a/2018-unity-sim/Assets/Walk.cs b/2018-unity-sim/Assets/Walk.cs
index 8b03700..4ecba33 100644
--- a/2018-unity-sim/Assets/Walk.cs
+++ b/2018-unity-sim/Assets/Walk.cs
@@ -92,11 +92,8 @@ public class Walk : MonoBehaviour
                 }
                 else
                 {
-                    Vector3 t2 = s[t].pos;
-                    t2.x *= walkspeed;
-
-                    // rotate x,y around rotation.
-                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
+                    Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
+                    step2[index] = t2 / speed2;
                 }
             }
 
diff --git a/2018-unity-sim/Assets/Walk2.cs b/2018-unity-sim/Assets/Walk2.cs
index 548a1ec..fbb7cc2 100644
--- a/2018-unity-sim/Assets/Walk2.cs
+++ b/2018-unity-sim/Assets/Walk2.cs
@@ -15,6 +15,7 @@ public class Walk2 : MonoBehaviour
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
             step2.Add(0);
             step3.Add(0);
+            step4.Add(new Vector3(0, 0, 0));
         }
     }
 
@@ -66,6 +67,7 @@ public class Walk2 : MonoBehaviour
     //public float walkspeed = 1;
     private List<float> step2 = new List<float>();
     private List<float> step3 = new List<float>();
+    private List<Vector3> step4 = new List<Vector3>();
 
     // Update is called once per frame
     void FixedUpdate()
@@ -89,11 +91,12 @@ public class Walk2 : MonoBehaviour
                 {
                     step2[index] = (rotation * s[t].rotation) / speed2;
                     step3[index] = s[t].height / speed2;
+                    step4[index] = new Vector3(0, 0, 0);
                 }
                 else
                 {
-                    step2[index] = (rotation * s[t].rotation) / speed2;
-                    step3[index] = s[t].height / speed2;
+                    Vector3 t2 = legsInitial[index] - legs[index].GetComponent<Leg>().point;
+                    step4[index] = t2 / speed2;
                 }
             }
 
@@ -110,11 +113,19 @@ public class Walk2 : MonoBehaviour
     {
         for (int index = 0; index < legs.Count; ++index)
         {
-            Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
-            n = Quaternion.Euler(0, step2[index], 0) * n;
-            n.y += step3[index];
-            // rotate x,y around rotation.
-            legs[index].GetComponent<Leg>().setWorldPos(n);
+            if (step4[index] == new Vector3(0, 0, 0))
+            {
+                Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+                n = Quaternion.Euler(0, step2[index], 0) * n;
+                n.y += step3[index];
+                // rotate x,y around rotation.
+                legs[index].GetComponent<Leg>().setWorldPos(n);
+            }
+            else
+            {
+                // return to home
+                legs[index].GetComponent<Leg>().point += step4[index];
+            }
         }
     }
 }