Lego Technic Loom (using Mindstorms NXT)

Hey there! :)
This is my fully automatic LEGO loom. I've never tried to build one before, so there are several functions I could revise, especially to make it operate faster. Nevertheless I'm quite satisfied with the creation and hope you enjoyed it as well.
If you have any questions, feel free to ask! I wrote a detailed school report about it, in which all complexes of problems are explained.