[marccenter]

Hey guy's thanks for info.

Part 2 now: I wanted to create my own version of TankDrive so I could have a rate-limited (RL) input for acceleration control (TankDriveRL) by comparing last loop value to present loop value. I began modifying TankDrive by copying/pasting to TankDriveRL within Robotdrive.h but couldn't really finish because I did have access to Robotdrive.cpp source code. What do you recommend to proceed? (I am new to C++ and Windriver development environments)

1) Figure out a way to modfy Robotdrive.cpp? (seems not possible)

2) Create new files(*.h, *.cpp) for TankDriveRL and make up new TankDriveRL class/method?. (most likely candidate).