[Clem1640]

To Dillon Carey,
We used Labview for the programming. Since each wheel is independently driven and steered, the software development was not trivial. On the other hand, with a choice of crab and snake drive, and two different robot twist modes (around the drive-train centerpoint and around the possessed ball centerpoint), we have a remarkably agile and maneuverable robot. It was worth the effort.

This is basically a fly-by-wire robot.