[magnets]

We did the math. The steering wheel angles were mapped to a turning circle radius. Then, we figured out what the radius for the inner wheels was and the radius for the outer wheels was. We found the ratio of the two radii, set the outer wheels to the speed set by the pedals, and multiplied the pedal speed by the ratio of the inner/outer radius to get the speed for the inner wheels.

It only made a difference for really the tighter turns. It also helped in 09 to maintain traction with the floor.