diff --git a/library.properties b/library.properties
index 0a18339..61a5d6a 100644
--- a/library.properties
+++ b/library.properties
@@ -6,4 +6,4 @@ sentence=ESP32 Movement library for a simple 4 leg 8 servo crab like robot Libra
 paragraph=A library that creates simple commands for complex robotic movements of a 4 leg 8 servo crab when using the ESP32
 category=Signal Input/Output
 url=https://github.com/s00500/LARS
-architectures=ESP32
+architectures=*
diff --git a/src/LARS.h b/src/LARS.h
index bc1341f..510ecfc 100644
--- a/src/LARS.h
+++ b/src/LARS.h
@@ -1,6 +1,12 @@
 #ifndef LARS_h
 #define LARS_h
-#include <ESP32_Servo.h>
+
+#if defined(ESP32)
+  #include <ESP32_Servo.h>
+#else
+  #include <Servo.h>
+#endif
+
 #include "Octosnake.h"
 
 // servo index to board_pins
@@ -20,7 +26,7 @@ class LARS {
   public:
     LARS();
     void init();
-    void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
+    void walk(int dir = 0, float steps = 1, float T = 800); // T initial 400
     void omniWalk(float steps, float T, bool side, float turn_factor);
     void turnL(float steps, float period);
     void turnR(float steps, float period);