After this attempt i had 3 more goes at trying to get my walk looking normal so i payed closer attention to the richard williams book. And drew out rough sketches of what the poses, just because it helped me understand them more and was easier to animate once i understood the anatomy.
I drew the poses without the arms because it was easier so then i could just focus on what the legs should look like . I then added the arms into the animation without drawing them, because there much easier to visualise.
Here's the final playblast of my finished basic walk cycle, I think it turned out well, and the other walks i did helped me correct my errors and get the final result which is shown below.
Here's the Final Rendered Version of my Basic Walk Cycle