Does anyone have any codes they can share for a 2wd and 4wd rover? 
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I have a two wheel differential drive boe-bot type of rover called W.A.L.T.E.R. which I have written quite a bit of code for. You can find it all on my website in the Robotics area software section. Most of the code is in subroutines and everything is pretty commented. The latest released version is 1.4.1.
8-Dale