http://www.youtube.com/watch?v=537Qi2C57x4
Stock wide frame. Stock wheels. Stock Toughbox transmissions. Trailer with stock wheels. "Real" regolith. 1 CIM per side. 4WD. No additional joystick programming or other "intelligence". Tank-style 2-joystick steering. This is an absolute bare bones bot in action.
Bot weight was base + battery + 85 lbs. of free weights. Definitely a little light. We're putting a 2nd level on the bot tomorrow so we can set an accurate bot weight and more easily test different weight distributions.
We did locate some old '06 bumpers after this vid, which we will install on the back of the practice chassis to provide more realistic and constrained trailer pivoting.
All in all it was fun to drive. I enjoyed throwing the trailer around - start a turn, let go of the sticks, let the trailer spin the bot around and complete the turn, then accelerate. Perhaps not the most efficient turning method but it was fun.
Just from a few minutes of driving, I can see how much we'll have to adjust the joystick and drivetrain code on the actual bot to limit wheel slip.