okay we have four black motors for our wheels. two on each side of the robot. on the right side we have 2 jaguars which are pwm 1 and 2. on the left we have 2 more jaguars which are pwm 3 and 4. if you want a pic of the code let me know and i will try to put it on here. otherwise go to
http://www.icerobotics.org/index.php...id=3&Itemid=50
that is the best pictures i can give you
please let me know if you want to see my code