This is my first UGV so I'm just a beginner in rovers. I am building the rover from scratch. I will be using this motor driver with it. The rover is of skid steering construction and it will be a 4WD. The motor's startup current is 8 Amps so I'll need only one driver. However, this driver also has a pin for braking. I know I can bypass the APM and just use the Rx for the purpose but for guiding it in auto-mode with brakes I'll need to connect it to the APM. So where to connect the brakes and would I have to write new code for it ?