I've tried every thing Ican think of to make this rover wheel free-spinning: setting up to no input, a zero input, a non-existent input. Ive tried disabling it, and connecting it to a (supposedly) free-spinning rotator. No matter what though, it seems that the Brake input always affects the wheel, even when the wheel is disabled (not activated). And I cant set the brake torque below 100. If its possible to edit the brake input as opposed to the motor input in the XML, I dont know since i cant access that on my iPad. Does anyone know an answer?