A system and method for resource adaptive classification of data streams. The first covering member has a back covering portion covering a back of the wheelchair, armrest covering portions extending around from both sides of the back covering portion and attaching vertically along the seat portion of the wheelchair. A printhead interface is connected to the processing circuitry and is configured to receive data from the processing circuitry and to generate control signals to be received by a printhead of a printing mechanism. The control unit 13 also controls an electro hydraulic clutch 11 which couples and decouples the flywheel to and from the drivetrain through a continuous variable transmission 10. The error calculation circuit is operable to calculate an error value based at least in part on the generated error and the loop error.