Rotor-Bomb Script (IK for walkers)

For the past few months I've been casually working on a walker script that uses inverse kinematics. With my recent run-in with the limits of rotors, I rewrote most of my code today. I haven't tested the previous (mostly working) version since the last update, and my rotors seem to be acting strangely. Anyway, I figured maybe it's time to start getting some feedback on it. Oh, and for some reason, executing this now freezes my game.

Excuse the mess...
Rotor-Bomb Script (IK for walkers)