Eureka!

I've finally figured it out!  You'll have to watch the videos to see what I figured out, but it took me all week to get this working the way I wanted--granted I only have time to work on this for an hour or two each night.  The videos will include a trig lesson as background to how I had to implement the code the way I did.  I'll also show you a bug I found in ShiVa, or if it isn't a bug, it's at least something that isn't implemented correctly.  So check back sometime tonight for the update!