that sounds awesome. u can actually make the wheels stay in one spot? i thought that would require a servo but i guess u can pulse it really fast.
to be honest, i only understand a little of what ur talkin about cuz my bro is the real engineer.
anyways, check out the new video on bitmod.tk of the propo speed controller. there's also a pic of the electronics linked to the controller and i think urs looks a lot easier to make.