The 4ws module works exactly like the ATTS module, or the A/T Module in the 5g.
It has a couple of lines that go to the stock ECU.
I had an 01 BB8 shipped over from the UK; and ended up scrapping the project and parting the car due to the fact that the 4WS would never work without the stock ECU =/
I still have the 4ws chunks sitting up in michigan; and plan on deving my own control board for it; as the concept behind it is rather simple...
The 4WS primary controller (essentially a servo... or stepper motor..); and it is controlled by a mixture of the power steering pressure sensor, yaw sensor, and vehicle speed sensor.
I had a prototype board built for it; that's merely controlled by a pot, mounted in the car's center console (mainly for show); but deving a functional controller wouldn't be too difficult.. only real catch would be making a scalable table for it... I tried to run numbers, by datalogging how the stock one performed; but was never able to find a good slope for it...
Background: My original plan was; to incorporate 4WS, ATTS, and a built H22a4 w/a JRSC; into 1 car, running a p72+s300; to make the ultimate handling/short range accel car; but real life caught up to me.
I still have a couple of the asm files, and .bin's for PIC18F4550's to manually control 4ws somewhere here..
Ohh. last note: leaving 4WS unhooked is not a good idea... every now and again, it "twitches" while unplugged (think early 90's RC car steering, with the batteries dying)