But, seriously, please don't. I have responsibilities. Also seriously, I've implemented some of the stock ESC desiredYawRate code, although some of the ESC characteristicSpeed settings are baked into my script because I got fed up trying to get the boilerplate code to work. I'll give that some time later. Also baked in is the extremely basic PID tune, which is purely proportional control at this point. I'll add this to a jbeam at some point so it can be tuned from the vehicle tuning screen. I think that would be a nice feature. And finally I've added understeer/oversteer logic, although I have to say after giving it some attention I think those are seriously misleading terms. My code doesn't look at the steering wheel direction when considering it, it just looks at the steering output from the PID loop and compares that to lateral Gforce and decides what to do from there. This means you don't have to consider countersteer among other things, and it also means sidehilling for a hypothetical future rock crawler will also be automatically adjusted for. It's still got an edge-case when you're deep into a reverse-entry drift, but I'm sure I can figure that out with a bit more noodling. Anyway, even without spending any real time on the PID tune, this has effectively tamed all versions except the 2500 with the stock body. So this is for when you absolutely positively have to snap turn 90 degrees at 450kph: I've attached the current WIP, I'm calling it version 0.1 at this point. I'll upload it to the repository when it's a touch more polished.