[zorro]

The easiest way would be to wire a speed controller to PWM1. Hook any of the larger motors up to the output of this controller. Then plug in a joystick to port 1 on the operator interface. The y-axis will control the motor in the default code. Be sure you follow wiring guidelines as stated in the manual. If you are just testing, you can bypass the 60A circuit breaker for now. Wire the battery to the fuse block. Attach the robot controller and speed controller to the fuse block. Make sure the polarity is right, or you might see some magic smoke.

If you have any questions, just reply to this message.