Sure thing. Think of the routine as a series of beats, each with a duration. Map each move to a beat offset, then run a simple interval‑based scheduler that triggers moves at the exact timestamp. You can use a tempo‑sync library to keep everything locked to a BPM, and add a tolerance window so the timing stays tight. If you hit a sync issue, it’s usually a mis‑calculated offset or a rounding error—double‑check the math and use fixed‑point arithmetic if you’re doing it on a microcontroller. Once you’ve got the timing nailed, the algorithm can even shuffle patterns while keeping the beat consistent. Give it a shot and let me know what you get.