pic: 172 almost done-ish!

[Ian Curtis]

Originally Posted by K.Porter

The steering system (mostly made of 1/4" flat bar...that's where the weight is) isn't an ackerman system, it's what we have dubbed a "red wagon drive." Both wheels and transmissions are attatched on a "yoke" that can pivot freely around a center pin. When one wheel is commanded faster than the other, the yoke pivots up to about 30 degrees in the direction of the turn, and pulls the rest of the chassis around in a smooth turn without having to slow down.

Do you have any difficulties tracking straight? For example, lets say your right wheel is faster than the left one. If you slow the right wheel down so it's the same speed as the left one, won't you continue your arc? Or do you have code to bring your "red wagon drive" back into a alignment?