I am utterly fascinated with what you did with the MPGuino code. This is some nice work!
As you can't yet post pictures, I'll post this one for you ->
(you are allowed to post pictures once you reach 5 posts)
I am more used to working with 8000-line blocks of code, they're easier to work with than trying to hop from file to file to file.
If you want, I can look at your code and suggest ways to make it leaner.