Soap-Box style steering X 2.
Two pivoting axles, linked with a cross-bar to provide high-speed staight-away and turning. Each axle has a pair of CIM motors, driving inline 3:1 Banebots Planetary gearboxes and custom made 4" diameter traction wheels.
Original tests showed that we could drive and steer JUST using differential speeds on the opposing wheels, but we ended up adding a dedicated steering motor with position feedback for Hybrid mode.
See video of the bot in action:
http://www.youtube.com/watch?v=JKdTJSR-KuU
__________________
Phil Malone
Garrett Engineering And Robotics Society (GEARS) founder.
http://www.GEARSinc.org
FRC1629 Mentor, FTC2818 Coach, FTC4240 Mentor, FLL NeXTGEN Mentor