Thank you both for the response, I don't quite understand the need for an entire rewrite of my code, the IK function (Inverse Kinematic Function Set) does not need to call for x and y because of the global variables in the "Control Box." I also don't understand the difference between For-Loop and the milli counter. Doesn't it do the same thing? Again, I only call Delay three times, one to allow me to position the robot before it starts moving, and twice to allow the legs to move to their position before starting again... is this where i need to rid the code of a delay?
If I do use the millis setup, how does that allow me to move the legs whenever i want, even if a leg is already moving, (how does it allow me to control each leg interdependently?)
I am a single person and have a very average coding skill. This code set has taken me around four months to perfect(incorrectly) so a complete rewrite would be almost impossible for me to undertake.
In the effort to give as much info as possible, here is the code...