Here you students in a Mechatronics Class at Nanyang Technological University, Singapore. They are programming a push rod tricycle to drive the locomoting wheel at varying angular velocities from -10 through 0 to +10 where -10 represents maximum reverse speed, 0 means stop and +10 means maximum forward speed.
The wheel is rotated by reciprocating two push rods, like a steam engine. Each push rod is actuated by a Futaba integrated servomechanism. The real time code is implemented on a Parallax Basic Stamp microcomputer.