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The last guide for creating a routine (then called "Custom Class") was many years ago (credits to CodenameG), I hope that new guides could be created which would then lead to a variety of new routines.
I created two guides on this back in late 2012 and early 2013. Search the forums for the Non-BT guide in which there is about 5+ hours of creation and testing separated into sections. I never finished the BT guide so please ignore it till I've finished it...