I have a copy of the official British Army manual for vehicle signals, it's dated 1980's but likely unchanged for years. My experience has been that tank crews use a version of it in reality..... However, the basic principles should be simple and unambiguous. The hardest thing is to get the driver, who is usually the owner, to do as he is directed. Most tank owners tend to think they know best and don't take direction well!
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Adrian Barrell
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