OMD Ogre Bullet Collision Bug Walk

I'm continuing work on my own physics library (OMD). I just put the bullet collision library in there and made this application as a test. It is a four leg walking robot. It uses PID controllers to move the legs. I link in the Dynamics part of Bullet so I can use the btOgre to debug draw, but otherwise don't really use the Bullet Dynamics.

Here is the Code!

Here is the entire code blocks project. You have to have Ogre and Bullet:
Code Blocks Bug Walk Project