Yikes the link didn't work, here it is again
http://www.chiefdelphi.com/forums/sh...threadid=14703
This is everything you need to control a crab drive, modify as you would like. In our case, all 4 modules were linked together. Using the code as an example you can easily break it into more complex steering (However variable space becomes an issue quickly when calculating angles)
Enjoy......
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