Hi so I finished this for a University project I’ll link you the blog where we finished our work. Though I’d appreciate if you didn’t send it as a private message and keep on the forums so other people can see this. Note of warning though as it wasn’t fully finished just the wheel and it was done with the steering not fully completed but should give you an idea of what we did. Not sure about some of your issues, you need to be a bit more in depth like which arduino were you using, hows your arduino code, blueprint setup etc. Good luck
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