You need to download a newer (at least 1.0) Arduino IDE. The older ones used pde files, the post-1.0 editions now call them ino files. I'm using 1.0.1 I think.

Actually I think mine would work for complex programs if I took out all the text descriptors for each step. I got it up to about 16 steps with 6 chars/step but going to no text should work with ~64 steps. How you'd remember what to do at each step though I have no idea.

If you want to see the maths behind dodging, look at the Program::compile functions. I should probably make a video sometime... but working on my print backlog is more important