Right now the wheel is wired to the fs-gt2 and that will probably remain the same to keep anything like an xbee from getting damaged on the car. But I might use an arduino in the wheel itself to wire in some foot pedals I have to go along with the steering wheel. So it is more like driving a car instead of turning a wheel and a nob to go forward or backwards. Plus it would offer more control over breaking and reverse. That is the plan anyway.