Refactor leg dynamics, control logic, and state management - #215

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/checkout@v2, nwtgck/actions-netlify@v1.1. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/