Your Brother CS6001 is a good machine to start and for a long while for that matter. You should expect many happy quilting days ahead. I found the walking foot on the CS1000i to work fine. It may be that your quilt wasn't basted properly and not taught enough for proper grip by the walking foot. There's a learning curve and certainly you will learn to finesse that foot as you go along. This board is a great resource but I strongly suggest you post a photo when looking for advice. Many on this board are so skilled once they see the quilt they can give very specific advice about how to improve. Have fun with quilting!