At last got some time to complete coding my hexapod to make it walk and sense obstacles. Click here to download the source code.

If you are beginner, and want to use MRDS to control your Lego Mindstorms NXT 2.0, refer to my previous posts:

1. Learn how to create DSS Service and use Manifest Editor
2. Lego Bot controlled using MRDS

Feel free to contact me if you have any questions or suggestions.