OK, all of that is fine as far as my robot goes, cept one little detail.
The robot failsafes fine, as in when I stop touching the controls, it comes to a dead stop. However, when I turn the transmitter off with the bot still on, it does twitch around. This could be due to me being in a uni, with a lot of electical equipment around, but Im not sure. Thats the only problem I seem to have with it though.