pic: steering methods

[jgraber]

Originally Posted by GeoffP

this shows several simple steering methods if you are going that route. left/right (tank) control will not work well this year since friction is so low. remember that sliding (dynamic) friction is roughly half of not-sliding / rolling (static) friction. also keep in mind that velicity is not a variable in the equation for the force of friction. 4 wheel independent drive, limiting torque to just below the break point between static and dynamic friction, and positive steering will be the keys this year.

Very nice drawings, thank you.
Can you add one for wide drive, with independent linkages for front and back, or some other way to allow strafing right left?

I think left-right independent drive is enough, 4wheel not needed, although independent wheel motors are easier to angle.

Most posts on traction control mention limiting wheel slip, not checking for torque. What kind of sensor would you use to measure torque? Some kind of chain tension sensor?