Thanks, but it's more of a hardware problem. If we wrap 360+ deg, we'll pull the motor wires out of their Anderson connectors
So, we allow 330deg of rotation before we have to re-orient the wheels. Steering is encoder based. We opted for the "BlackJag" CAN bus approach to control all the chassis motors, and it seems to be working out for us. We'll see how well it works out in competition.
We're using WindRiver and C++
Eric