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re: awd system. Very simple IMO.
Current system - pedal produces 0-5v, controller generates enough current to match that voltage (relative) on the motor current sensor.
New System - pedal produces 0-5v to awd system. Awd system reads wheels speed of 4 wheels and determines "desired" wheel speed. Each motor controller then receives a 0-5v signal equal to: (pedal input)*(desired wheel speed)/(actual wheel speed)
Then a faster-moving wheel will have its power output reduced according to the speed differential. Alternatively, one could design it (and this would be much better, imo) to monitor wheel acceleration instead. As long as all the wheels are accelerating at the same pace as each-other, the controll sends the pedal voltage on un-adjusted. If one wheel's acceleration is double, its voltage is halved. Sounds easy-peasy to me.
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