(...) Forgot to mention that now I am ready to tackle Legway using the ADXRS300 Gyro, ADXL202 Accelerometer, and a bit of Kalman filtering. Watch out Steve, I am coming ;-) Steve, you did an AMAZING JOB on LegWay!!!.... Cheers, Ram (21 years ago, 6-Apr-04, to lugnet.robotics.rcx)