After meeting with Dan twice and spending way too long on this, I got done all the things I wanted to, which surprised me. Getting the arm joint to work was the hardest part. I had to do a bunch of trig and crap that I haven’t thought about in years. Stuff like this:
There are still flaws. The coding is pretty stupidly organized. I would fix this if I thought I wanted to do more with this, but I don’t really see it going further. I’m actually pretty happy with what I’ve got. It looks almost exactly like what I first imagined.