diff --git a/src/stairs.c b/src/stairs.c
index 6ad7d3c9e5f373234046322989a8e3a849b31ade..3947bd64cdf6c4b2dfc8c53280fc7069a076c6e1 100755
--- a/src/stairs.c
+++ b/src/stairs.c
@@ -136,7 +136,7 @@ void stairs_process(void)
         //1
         delta=stairs_Time/stairs_shift_weight_left_time;
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude*delta;
+        ep[1]=-stairs_Y_Offset/2.0+stairs_Y_shift_amplitude*delta;
         ep[2]=stairs_Z_Offset;
         ep[3]=stairs_R_Offset;
         ep[4]=stairs_P_Offset;
@@ -154,7 +154,7 @@ void stairs_process(void)
         //2
         delta=(stairs_Time-stairs_shift_weight_left_time)/(stairs_rise_right_foot_time-stairs_shift_weight_left_time);
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude;
+        ep[1]=-stairs_Y_Offset/2.0+stairs_Y_shift_amplitude;
         ep[2]=stairs_Z_Offset;
         ep[3]=stairs_R_Offset-stairs_R_shift_amplitude*delta;
         ep[4]=stairs_P_Offset;
@@ -172,7 +172,7 @@ void stairs_process(void)
         //3
         delta=(stairs_Time-stairs_rise_right_foot_time)/(stairs_advance_right_foot_time-stairs_rise_right_foot_time);
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)*delta;
+        ep[1]=-stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)*delta;
         ep[2]=stairs_Z_Offset;
         ep[3]=stairs_R_Offset-stairs_R_shift_amplitude;
         ep[4]=stairs_P_Offset+stairs_P_shift_amplitude*delta;
@@ -190,7 +190,7 @@ void stairs_process(void)
         //4
         delta=(stairs_Time-stairs_advance_right_foot_time)/(stairs_contact_right_foot_time-stairs_advance_right_foot_time);
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0);
+        ep[1]=-stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0);
         ep[2]=stairs_Z_Offset;
         ep[3]=stairs_R_Offset-stairs_R_shift_amplitude;
         ep[4]=stairs_P_Offset+stairs_P_shift_amplitude;
@@ -208,16 +208,16 @@ void stairs_process(void)
         //5
         delta=(stairs_Time-stairs_contact_right_foot_time)/(stairs_shift_weight_right_time-stairs_contact_right_foot_time);
         ep[0]=stairs_X_Offset-stairs_X_shift_body*delta;
-        ep[1]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)-(2*stairs_Y_shift_amplitude)*delta;
+        ep[1]=-stairs_Y_Offset/2.0+stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)-(2*stairs_Y_shift_amplitude)*delta;
         ep[2]=stairs_Z_Offset;
         ep[3]=stairs_R_Offset-stairs_R_shift_amplitude+stairs_R_shift_amplitude*delta;
-        ep[4]=stairs_P_Offset+stairs_P_shift_amplitude-(2.0*stairs_P_shift_amplitude)*delta;
+        ep[4]=stairs_P_Offset+stairs_P_shift_amplitude-(3.0*stairs_P_shift_amplitude)*delta;
         ep[5]=stairs_A_Offset+stairs_A_shift_amplitude;
         ep[6]=stairs_X_Offset+stairs_X_shift_amplitude-stairs_X_shift_body*delta;
         ep[7]=stairs_Y_Offset/2.0+stairs_Y_shift_amplitude+(stairs_Y_spread_amplitude/2.0)-(2*stairs_Y_shift_amplitude)*delta;
         ep[8]=stairs_Z_Offset+stairs_Z_stair_height;
         ep[9]=stairs_R_Offset-stairs_R_shift_amplitude+stairs_R_shift_amplitude*delta;
-        ep[10]=stairs_P_Offset+stairs_P_shift_amplitude-(2.0*stairs_P_shift_amplitude)*delta;
+        ep[10]=stairs_P_Offset+stairs_P_shift_amplitude-(3.0*stairs_P_shift_amplitude)*delta;
         ep[11]=stairs_A_Offset+stairs_A_shift_amplitude;
         ram_data[DARWIN_STAIRS_CNTRL]|=SHIFT_WEIGHT_RIGHT;
       }
@@ -226,16 +226,16 @@ void stairs_process(void)
         //6
         delta=(stairs_Time-stairs_shift_weight_right_time)/(stairs_rise_left_foot_time-stairs_shift_weight_right_time);
         ep[0]=stairs_X_Offset-stairs_X_shift_body;
-        ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0);
+        ep[1]=-stairs_Y_Offset/2.0-stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0);
         ep[2]=stairs_Z_Offset+(stairs_Z_overshoot+stairs_Z_stair_height)*delta;
         ep[3]=stairs_R_Offset+stairs_R_shift_amplitude*delta;
-        ep[4]=stairs_P_Offset-stairs_P_shift_amplitude;
+        ep[4]=stairs_P_Offset-2.0*stairs_P_shift_amplitude;
         ep[5]=stairs_A_Offset+stairs_A_shift_amplitude;
         ep[6]=stairs_X_Offset+stairs_X_shift_amplitude-stairs_X_shift_body;
         ep[7]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+(stairs_Y_spread_amplitude/2.0);
         ep[8]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_overshoot*delta;
         ep[9]=stairs_R_Offset+stairs_R_shift_amplitude*delta;
-        ep[10]=stairs_P_Offset-stairs_P_shift_amplitude;
+        ep[10]=stairs_P_Offset-2.0*stairs_P_shift_amplitude;
         ep[11]=stairs_A_Offset+stairs_A_shift_amplitude;
         ram_data[DARWIN_STAIRS_CNTRL]|=RISE_LEFT_FOOT;
       }
@@ -244,16 +244,16 @@ void stairs_process(void)
         //7
         delta=(stairs_Time-stairs_rise_left_foot_time)/(stairs_advance_left_foot_time-stairs_rise_left_foot_time);
         ep[0]=stairs_X_Offset-stairs_X_shift_body+stairs_X_shift_body*delta;
-        ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)+(stairs_Y_spread_amplitude/2.0)*delta;
+        ep[1]=-stairs_Y_Offset/2.0-stairs_Y_shift_amplitude-(stairs_Y_spread_amplitude/2.0)+(stairs_Y_spread_amplitude/2.0)*delta;
         ep[2]=stairs_Z_Offset+stairs_Z_overshoot+stairs_Z_stair_height;
         ep[3]=stairs_R_Offset+stairs_R_shift_amplitude;
-        ep[4]=stairs_P_Offset-stairs_P_shift_amplitude;
+        ep[4]=stairs_P_Offset-2.0*stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
         ep[5]=stairs_A_Offset+stairs_A_shift_amplitude-stairs_A_shift_amplitude*delta;
         ep[6]=stairs_X_Offset+stairs_X_shift_amplitude-stairs_X_shift_body-(stairs_X_shift_amplitude-stairs_X_shift_body)*delta;
         ep[7]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+(stairs_Y_spread_amplitude/2.0)-(stairs_Y_spread_amplitude/2.0)*delta;
         ep[8]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_overshoot;
         ep[9]=stairs_R_Offset+stairs_R_shift_amplitude;
-        ep[10]=stairs_P_Offset-stairs_P_shift_amplitude;
+        ep[10]=stairs_P_Offset-2.0*stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
         ep[11]=stairs_A_Offset+stairs_A_shift_amplitude-stairs_A_shift_amplitude*delta;
         ram_data[DARWIN_STAIRS_CNTRL]|=ADVANCE_LEFT_FOOT;
       }
@@ -262,7 +262,7 @@ void stairs_process(void)
         //8
         delta=(stairs_Time-stairs_advance_left_foot_time)/(stairs_contact_left_foot_time-stairs_advance_left_foot_time);
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude;
+        ep[1]=-stairs_Y_Offset/2.0-stairs_Y_shift_amplitude;
         ep[2]=stairs_Z_Offset+stairs_Z_overshoot+stairs_Z_stair_height-stairs_Z_overshoot*delta;
         ep[3]=stairs_R_Offset+stairs_R_shift_amplitude-stairs_R_shift_amplitude*delta;
         ep[4]=stairs_P_Offset-stairs_P_shift_amplitude+stairs_P_shift_amplitude*delta;
@@ -280,7 +280,7 @@ void stairs_process(void)
         //9
         delta=(stairs_Time-stairs_contact_left_foot_time)/(stairs_center_weight_time-stairs_contact_left_foot_time);
         ep[0]=stairs_X_Offset;
-        ep[1]=stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+stairs_Y_shift_amplitude*delta;
+        ep[1]=-stairs_Y_Offset/2.0-stairs_Y_shift_amplitude+stairs_Y_shift_amplitude*delta;
         ep[2]=stairs_Z_Offset+stairs_Z_stair_height-stairs_Z_stair_height*delta;
         ep[3]=stairs_R_Offset;
         ep[4]=stairs_P_Offset;