[ALIBI]

I love the modified Ackerman Steering, do I see a slight angle coming off the pinion? Looks like you can turn to the left better than you can turn to the right, right? If you were to drive your steering off the tierod and you have the clearance, you could probably turn equally good in both directions. I am not sure you would need to, but it might be nice to have. We planned on writting software to speed up the outside rear wheel depending on how much the front wheels turned. So far that does not appear to be necessary. Have you programed anything to compensate for the rear wheels when turning?

EDIT: What kind of turning radius do you get? I am guessing that moving the wheels in a little helps you.