I have added 4 cam videos showing how to produce the code for this part, also showing mistakes and how to get out of them.

Finally showing simulation and how good simulation can save you from making bad parts you do that with the software until you are happy to run the code.

If anyone would like to clarify anything just say the word.

Part one http://www.screencast.com/t/hCiydlb8

Part two http://www.screencast.com/t/JiYTd08aMoPX

Part four http://www.screencast.com/t/q4bMbIjkk

Part five http://www.screencast.com/t/krPGDbRpqh