Ok, The coding for the Vex used in the body is finished. With the help of Marko, We were able to get what I was after in the code and it works better than I expected.
Now I need to get the Vex mounted in R2 and I need to order some longer wires for the Ultrasonics going in the legs. I think I'm going to try that Youth Tube to post some Video of R2 moving his dome.
Now that this is finished, I'm going to start on the Dome Vex. This will control movement in the dome.