This hand code has been traumatizing me for too long, ive restructured it and began adding PID tuning for the motors to turn more smooth and human-like, ive also been trying to bug fix packet loss and random noise being sent back and forth, im going to begin working on the pcb and maybe a third version of the projects CAD! im really excited to finally be finished with the code and take a step back and look at what ive made, hopefully you can all take this step back with me