I also have a Bernina BSR. However I didn't like using it. I use the darning foot, lower the feed dogs, put the needle in down position and go from there. The stitch length can be tricky to keep even but it just takes some more practice. I imagine the fingers on my hand for loops or mountains and how they look at a distance. I also practice drawing loops by doodling on paper when I am on the phone. Try to see it in your mind first. The BSR was just too slow for me and the darning foot gives you more freedom and faster speed too when quilting. The Bernina works best at an even rate of speed and the hand and foot coordination comes with practice. You can also slow down the speed of your machine when you start and then adjust it as you get more comfortable sewing. Hope this helps.