I love this project, so greatful for it, and it has been a wonderful experience to get it all together. After calibration today, next steps, genetic algorithms via the Raspberry Pi and the Cloud(?) - maybe in the future... Today though, just to get Nybble (temporary but good name, my children will draw names from a hat) walking, and calibrated has been fun. Working on the bluetooth serial connection next, for some usb-wire-free-walking...and lots more learning for me :-))))))