Wall-e arm modification

I've made Wall-e's arm move up and down with a bigger 966 servo. The arms can now move in and out, and the hands move in and out with a couple of extra small servos.
Inside the arms is a bit of welding wire with a spring from a ball point pen, to push the arm back out, and some fishing line to move it.
I'm working on running it from a PS3 controller thru Bluetooth to a USB Host shield on an Arduino Mega then to Xbee on the Zbee network to another Xbee on a Arduino Mega, on Wall-e, to drive the servos and motor controller.
As you can expect, I'm having trouble with the code. When I've sorted it out I'll post it on Github, OR if someone can help me (everyone) with the code, I would be very happy.
Have fun, I sure have.
Thanks again Chillibasket