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Well, I got it working by switching to 1.0.5-r2. :)Now I just need to calibrate it properly - I'm getting the looping that other commenters have reported.
Thank you for the tutorial - it's inspired me to try this out. I read that this won't work on the 1.6.9 IDE. Would anyone be able to point me in the direction of a tutorial that works on that version, or point out the changes necessary to get it working? I'd like to learn from looking at a working example and build up my knowledge from there. Thanks again.