If your wheel is stuck running at a certain RPM or has glitches. Have a computer in the mission room to program script, game script not real script of any type. To counteract the bad wheel.

Example types of code syntax I am talking about. Code that is fairly simple to read and write
PBASIC
PHP
Fortran

So to fix a wheel you would have a pin for each wheel and you use that for stuff like...

-----------------------------

'start program
IF pressing w
GOSUB foward
ENDIF

forward:
HIGH 4, 700
HIGH 5, 700
HIGH 6, 700
HIGH 7, 700 *4-7 are wheels. turns them on. 700 is milliamps
i = DEBUG 5 *wheel # 5
IF i <= 650 *{650 mAmps}
HIGH 6, i
HIGH 7, i
HIGH 4, i
ENDIF
RETURN

END

'end program

And can turn on equipment by saying some thing like "HIGH 1" 1 standing for front lights.

This is a bit random code but something along that line.