[mechanicalbrain]

Yeah if you want one motor to run your drive train than you are going to have to do some fancy gearing, especially where steering is concerned. Is it a matter of a lack of motors, too much weight, or just to see if its possible. I know you can do it with three motors pretty easily but it wont be very powerful or it wont be fast (or both will be mediocre). On a side note i want to see a drive train that doesn't have a direct motor to wheel system (what i mean is having a system where you have a torque to speed ratio).