What I have now seems to all work correctly over xbee and the pots are distinguished using S,B,G for steer, brake,gas pots.
That's not the impression I get.
Ok...so what is it I need to change?
int potPinS = A0;
int potPinB = A1;
int potPinG = A2;
is a start. Change the names of val, val1, val2, lastVal, lastVal1, and lastVal2, too.