Why don't you email me about this. See if I can help. Don't really want to talk about it too much here. Shame something like that will slow you down, keep you from doing what you wanna do, use tools you wanna use, etc. Maybe you can finish it up and release it as v1 to me. Then we'll work on your system problems and you can update it later. Bobafett is already making a really nice version now, with those additions on the legs that I was suggesting, but you couldn't do b/c of your system.