I'm there with you. This thing is so complicated that it might be hard to just do an easy to follow tutorial. I've been tinkering with it for a while in a robot

I'm there with you. This thing is so complicated that it might be hard to just do an easy to follow tutorial. I've been tinkering with it for a while in a robotics application, and progress is slow (steady, though). One of those fields where the roads are still unpaved. :)