With the drive train of a golf cart powering Groundhog, it was only logical to use the circuitry from a golf cart to control Groundhog. Most golf carts use a brushed DC series wound motor. In order to control the direction of motor rotation, four relays were used in a standard H-bridge configuration to provide three states for the motor: Forward, Reverse, and Off.
The original golf cart from which these pieces were optained only had a total of six high power relays. Therefore, with the aid of a highly questionable circuit layout, the linear actuator that controlled the steering angle was controlled using only two relays.
Finally, speed control of the motor was provided by a black box motor controller with a simple potentiometer input. The potentiometer was combined with two double pole, double throw switches into a button box that controlled all of Groundhog's actuators. Initial experiments with Groundhog at the Bruceton Research Mine were conducted with this type of control.