Ignore the last post, it worked on the simulation but not in reality as the PWM was totally freaked out!
I have gone back to my code with the screwy SSO DRO stuff, i also fitted the SSO pot so the CSMIO had control - it certainly fixes the weird SSO behaviour BUT the range of the override pot is very limited and dependant on the pulley setting - very complex relationship between pulleys, wpm and SSO pot i think.
Still it all seems to play together now, pretty smoothly.