So to increase the speed of control I moved from VNC to ssh and this meant I had to add a text based control system. Basically a way to select a motor and then increment or decrement the angle of the motor at varying speeds. Nothin special but still took a far amount of time.

Not much to really show here except possibly the fact that I moved the legs around so that they stuck outwards not inwards but I will demonstrate that once I have some preprogrammed movement for the robot which should be in a few days?