video). For the second version I used 10 small ring bearings to create rollers which works much better. I also wired up all of the potentiometers on the left leg. Reading their values and sending them over wifi with an Adruino Mega and a TI CC3000 wifi board is fast (tested up to 20Hz). The only problem is that the CC3000 randomly blocks on sending sometimes for up to a full second. If this can't be fixed I'll need to figure out another way to transmit the data wirelessly (wifi from an android device, beaglebone, or maybe bluetooth).