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Thanks for your answer. I finally understood how you designed it.

I'm still learning, but I went a different way, using exemples (mainly the Tiger 1 RC from Rammelhorst here on thingiverse) I am rewriting the program to use the Android Bluetooth RC car, with progressive start for the motors, so not depending on a mapping between joysticks values and effective speed.
Electronic is different too: an Arduino Uno + L293D shield, making it very easy and clean to wire !

For the RC control, did you check the Openpanzer website / forum ? They did a really nice job to have a very complete solution. It can be used with Arduino Mega.
It is my next step in my learning curve.

I am also trying 3d printed shock absorbers, it shoud be nice to replicate the T34 Christie's suspension...
Will be the next iteration !

Again, thanks for you work, What's your next model ?

Have a great day!