I'm still fine tuning it. And actually I've been using it on almost a daily basis now for my robot fish.
I haven't had time to port it to my ERP, so it has a lot of fish related code mixed in. Tell you what, if I quickly fix it up without testing or instructions, are you willing to work with it? 95% chance there'll be no bugs, and the comments in the code should make it easy to figure out.