/       public static void marche(){
    
      int steps = 10;
      float sin_value;


      for(int j = 0; j < steps; j++)
      {
      sin_value = (float) Math.sin(Math.PI * j / steps);
      servo_set_position(joint[0], 0.2f * sin_value);
      servo_set_position(joint[1], 0.2f * sin_value);
      servo_set_position(joint[2], 0.50f * sin_value);
      servo_set_position(joint[3], 0.65f * sin_value);
      servo_set_position(joint[5], 0.50f * sin_value);
      servo_set_position(joint[18], 0.5f * sin_value);
      servo_set_position(joint[20], 1f * sin_value);
      servo_set_position(joint[8], -0.5f * sin_value);
      robot_step(128);
      }
      
      for(int j = 0; j < steps; j++)
      {
      sin_value = (float) Math.sin(Math.PI * j / steps);
      servo_set_position(joint[0], 0.2f * sin_value);
      servo_set_position(joint[1], -0.2f * sin_value);
      servo_set_position(joint[12], 0.50f * sin_value);
      servo_set_position(joint[13], 0.65f * sin_value);
      servo_set_position(joint[15], 0.50f * sin_value);
      servo_set_position(joint[8], 0.5f * sin_value);
      servo_set_position(joint[10], 1f * sin_value);
      servo_set_position(joint[18], -0.5f * sin_value);
      robot_step(128);
      }
       float[] matrix;
    //   matrix=gps_get_matrix(gps);
    //  //System.out.println("positionX="+gps_position_x(matrix));
    //  //System.out.println("position="+gps_position_y(matrix));
    //  //System.out.println("positionZ="+gps_position_z(matrix));
    //  //getPos();
    //  //System.out.println("distance="+distance_sensor_get_value(distance));
    
          }