I messed around with the controller some more today and got it a bit under control. It's not moving in any direction very fast... but it is moving!
There are two main gaits that are coming into form here. They are both shown in the video below. The first one is more of a wave moving THROUGH the worm and the second is more the wave being the ENTIRE worm.
I have another idea as well that I haven't tried out yet as well. This is more of a classic inch worm movement. I think it will actually work the best because it's the closest to an actual step. These first ones I'm working on are just cool.