[Greg McKaskle]

My advice is to create either of the templates. At this late date, the Basic may be a better choice since it has fewer concepts to get lost in.

Where it Opens two motors outside the loop, open several more. Where it Uses the Drive, you probably want to open the drive and look at it and basically replace the drive with some motor speed sets.

People have been putting up code and pictures of turret code with limit switches, be sure to look there.

The steering is just another motor to open and hook to the other joystick axis, probably with some scaling.

Greg McKaskle