A method for controlling slip of a driven wheel on low friction surfaces includes determining the current magnitude of static tire friction potential, current magnitude of maximum dynamic tire friction potential, and magnitude of tire torque demanded by an operator of the vehicle. The pivoting unit unfolds the first body and the second body in a manner such that the power output is partially hidden between the first body and the second body. The optical tracking method further includes comparing the image characteristic variation with the known illumination variation to determine whether a predetermined function is actuated. A carrier frequency is selected which is appropriate to fulfil the desired quality of service requirement. A flip unit, responsive to the flip signal, flips an output of the signal buffer such that an average DC value of the precoded communication signal approaches zero.