Thanks guys, and yep that's me, the guy with the awesome beard. The waist and the shoulder are controlled by the remote's motion, the rest with the buttons (1, 2 and D-pad controls the 3 other motors). I think pretty much every function but the IR have a function. (+/- sets speed, Home returns the arm to its home position, the LEDs shows in binary (0-15) the joint being moved/speed being set)