First of all a big thanks to @mithi for this great code
I do have a different type of hexapod and the servo configuration makes the left and right side asymmetric, so +10 deg on left side makes -10 deg on right side. Not being a programmer I would kindly request that you consider implementing this new parameter (symetry class ?) so we can expand to a larger hexapod compatibility.

Here is a picture of the ''monster'':