Eheh, that program's been tweaked over and and over again, didn't follow standard input left - output right format because I haven't had time to really organize it the way I'd like it to.
The motor drive program was something our head programmer modified up a bit, I've no real clue of what modifications was made. I think it was just made so that all 4 wheels could independently be configured, or something like that. Don't have the VI on me at the moment though *facepalms again*
So, with the outputs, you're referring to having the multipliers outside of the main drive case structure...right? Wasn't too sure whether I should've done that or not either, been without some supervision lately in programming and I never asked about it now that I think of it.
Eh....what's a feed forward node
....Not too familiar with LabView quite yet, I just learned simple wire connecting basics, VI locations, constant/indicator creation, and variable creation from the head, and figured out everything myself.