[welly]

I don't think this is quite what you are looking for, but I used the Multilevel Primary Menu module for something like this. I added all of my menu items in a 'logical' order manually.

Up side, I didn't need to code anything, and I can configure any cat name or description I want, including subcategories.

Down side, the menu is not dynamic so each menu item must be configured manually. You may like that, or you may not.

Welly