the front and rear wheels turn via 2 steering motors, so the front can turn independantly of the rear.
The robot is programmed to interpret wheel posistion via the X and Y on the joystick, so if u want to slide to the right, you move the joystick right, and the wheels will turn, and the robot will slide sideways, and vice versa, we can slide in any position. Pots give the robot controller information on the front and rear wheel posistion. for high speed work we have car mode, where the joystick will turn the front wheels depending on the position of the handle. If we get into a jam we have panic mode, where two knobs allow us to change the front and rear wheel position. a 3 poistion know allows us to change in between the modes, so we have 3 driving modes, depending on the drivers preference.
