Hello,
The two joysticks on the left controlled the "top" and "bottom" brushes on our robot. (bottom 3, top 2). The twist stick forwards and backwards controlled thrust, and either the twist axis or the steering wheel controlled our turn vector. Nothing complex with the wheel and twist. We just had them added so if you twisted joystick half way and steering wheel half way, it would turn fully.
Under the steering wheel is our router
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