[Tom Line]

In playing with the numbers on your spreadsheet, I ran into a couple items I had questions about.

If I put the speed to 1 (full) and the rotation to 1 (full) I get a wheel speed of 2+. I was assuming the full-scale wheel speed was from -1 to 1. Is that not the case?

In addition, when I put in Speed 1, Angle 0, Rotation 1, I get a picture where the two left wheels are 90 degrees from the supposed angle of travel shown in the overall motion. That would seem to me to be physically impossible, as it appears you are trying to literally drag those two wheels sideways.

Let me know if I'm making some incorrect assumptions.