That is almost the end but you are jump a very important thing every steer with taho-motor and Zapi EPS sistem must have points to work on some trucks is potentiometer on some switch and Zapi is in traction controller put some settings that you must to do for this command if you want to do right,that is for reason so when you try to go left or right speed get slow and steer must to work perfect in moment.For more info send me mail it is in profile.Good Luck