quote:
No brakes yet...but I would appreciate if someone could give help out with some code that would generate a +1 or -1 to indicate whether a wheel is rotating clockwise or counterclockwise.
Ok, got this one figured out. I used Ventilators script to get the local linear velocity and then normalized it to length 1. The trick is I had to rotate to the 'chassis' angles and not the 'wheel' angles. The wheel angles don't help since the wheels are always rolling along..doh! Wheel linear velocity rotated to chassis angles using...

code:
phent_getvelocity(wheel,vel,nullvector);
vec_rotate(vel,vector(-chassis.pan,-chassis.tilt,-chassis.roll));
vec_normalize (vel, 1);
quote:
One thing that's on my list is making the wheels more stable though.
More stable wheels would be nice. [Smile]

FYI: Parameter5 is documented in the manual for wheel axis2 so you might want to change the documentation.