In Sati Yug, when truth and goodness was prevalent as if walking on its all four legs, it was satyagrah against Aagrah, which was rarely there.
In Treta Yug, when evil started raising its head and Satya was crippled in one leg, atleast a righteous protest against the evil was started, but the protestor was still protesting within limits of righteousness
In Dwapar yug, when evil was more prevalent and Satya was crippled in 2 legs, Lord Krishna said, i will support the righteous even if they deal with evil in its own language
So whats the lesson for Kalyug???