[Al Skierkiewicz]

Keith,
We haven't used feedback to limit control at this point. The software just scales back during normal operation and goes to full control when a button on the joystick is pressed. Our "turbo" button is just used on drive control when we want to get somewhere in a hurry. We have used this method for a few years now. When we have used the drill motors for driving with the attached transmission, we lock the speed shifter into one speed only with a couple of tywraps so it can't bump out of engagement.
The gear ratios are chosen for optimum torque at the lower speed and are obviously different for the FP motors or the drill motors.
Al
P.S. Although we have considered using our current sense to control software we think it needs a little more work so that the drivers are not confused by the action of the software. Practice, practice, practice is the key.