This time I finally focused on sending data from bracerbot to PC via Bluetooth. At the same time I've written small application in Processing that acquires the data and displays them on the screen using controlP5 library, which is great. This application also allow you to control robot. So in next week or so I will finally program gait and make this application look kinda better. Also notice that light sensor is showing 1023 because its not yet soldered to the board.