bioloid spider king controlled with IK in C++

this is the bioloid spider king kit, but it is controlled from my computer with visual C++. a few facts:
the robot is controlled with inverse kinematics (the body goes straight left if the controller stick is pushed left etc...)
the robot speed ONLY depends of the stick's postion and never slows down if the legs positions are too stretched.the algorithm anticipates positions
the C++ program is 450 lines long, 380 lineswithout the diagnostics and initialization lines
the time during which both sets of legs are down is controlled by a parameter, it is possible to set this time to 0 (ie leg sets change states at the same time)
your comments are welcome, I have a lot to learn yet!