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Re: Halo Drive
If your six-wheel drive has normal traction wheels, with three driven together on one side and three driven together on the other side, it doesn't have the ability to move sideways. I would usually reserve the term "Halo drive" for a robot that can travel in any direction without first having to rotate to face that direction.
It sounds like what you're looking for is a typical Arcade drive, but with the speed and spin on separate joysticks. The usual Arcade drive uses the Y axis of a joystick for the speed, and the X axis of the same joystick for the spin. For your application, simply use the X axis of the other stick instead.
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