Crab Programing

[Tytus Gerrish]

How is a crab robot programed,

i mean i hear things (probably rumors) like Krunch has 4 steering chains and they all point the wheels in the direction the joystick is pointed

there is the 1 link system where all the fenders are linked together and you stear kinda like a car with the joystick x-axis binded to the power output of the steer motor But, how can you tell where the wheels are pointed when there inside the bot?

I heard krunch used there Mini_krunch Edu-robot to figure out their programing and i think i saw the kids just pressing the stick in the direction they wanted it to go, How did they do that? or was i just imagining it?

Im designing a crab bot by my lonesome and want a program system where i can just point and it goes instead of trying to see where the wheels are pointed, I need to know as much as i can so i can make a nice impressive presentation to my team when its time to chose a design

Any Information Would Be Very helpful