Make Spider Move Continously

[supercrewed]

I have built this spider, everything works great, however when using the blue tooth, it only takes a couple of steps when the buttons are pressed. It doesn't seem to matter what direction, also the motors to make it stand and dance, aren't very strong.
I've tried altering the code, but to no luck. If you can point to the lines of code, to alter the movement, and possibly motor strength, that would be awesome.
Cool project though!
I'll keep plugging away at it, thanks for sharing your hard work.