Yip, just been making a start on a sim based on Bergison's g-seat. So far just have wiper motors and a few Monster-moto boards.
I've been going over the code to add more features to it - so far have implemented more progressive ramping of velocity, and tweaks to enable it to creep up to the exact target. I also want to add support for hard limit-switches incase the encoders go haywire. I work as a software engineer, specializing in data acquisition and control systems (wind tunnels, car telemetry) so can hopefully apply some of my skills. I'll make all the source freely available once I'm done.