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Paul,
We will see you at Great lakes and Midwest regionals. We use the botton on the joystick to control two ranges of speed.
SSwaszek,
I was just going to ask you to stop by and see us and I would explain. Unfortunately, your team will not be at any of the events we will attend unless we see you at Epcot.
We use the globe motors to control the angle of the wheels with a chain drive in pairs. Mike explained the feedback controls in a previous post above. The SW is not that complicated unless you attempt to incorporate non-linear response to the joysticks. In 4-wheel steering mode (vs. crab mode) the response is touchy at high speeds unless you use a non-linear response to reduce the sensitivity at low angles.
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Warning: this reply is just an approximation of what I meant to convey - engineers cannot possibly use just written words to express what they are thinking.
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