Okay, its far from perfect, but the video below is called the S2 Reveals its Soul.
It is a simple ordered pair plot. Code is attached in an archieved format and I would love to know how it works on your S2. My wheel calibration is set at -7, yours may need to be adjusted a bit.
Edit - Improved Video in Thread
"In almost every robotic project I attempt, I am way over my head going into it..." - Carol Lynn Hazlett