lol, ill tell more as i get closer to finishing (which is getting delayed due to a lack of funding, spare parts, waiting for ordered parts, and, of course, a full time load of Mechanical engineering courses).
I spoke with the developer already. he was nice enough to give me some details, but made it clear he wasnt interested in adding such features at this time. he said the reprogramming of his own driver would take 1-2weeks though, if anyone wants to try it. Tho his code isnt open source, and he's no intention of lisencing it out.
O well!