After getting 1300 lines deep, the code has started to develop a bug. While running gait timers for leg/servo movement, Bluetooth disconnects and the program hangs... I've tried debugging and the error goes away if I had a serial.print()... but that is odd that it would fix it. I know that adding serial communication can sometimes take more time for a process...
Anyway, I'm going to try running some multicore examples from https://community.element14.com/products/raspberry-pi/b/blog/posts/four-multicore-c-programs-for-raspberry-pi-pico-using-arduino-ide
