I wrote a long description back in the projects section so I'll keep this to the point.

I've created a tutorial level which explains several techniques that can be useful:
  1. Control a piston (left, right, stop) with directional logic signals
  2. Combine two "speed" inputs for forward and backward control of a wheel
  3. Use a single "speed" switch to control forward and backward motion of a wheel (implement "following" behavior)
  4. Create a rotary encoder to determine rotational direction
  5. Create a speed matcher (or halver or doubler)


If you've had to solve some of these problems, let me know the approach you took.