I decided to take a break from vision processing and finish off the legs for my biped. (I hadnt looked at it for a while). I spent ages trying to figure out why it wasnt doing anything. I reburned the program into the micros, stripped the thing down and put it back together and was pulling my hair out until I realised the servo connector was in the wrong socket! - Duh.

Put it in the right one and what do you know it worked, must be a miracle.