teaser # 2. pretty obvious.
We were thinking of using R&P on a window motor, but it sure is slow!
and then the programmers figured out how to use shaft encoders to make 6wd skid steering very easy to steer straight with a steering wheel control, and we pretty much dumped the ackermann idea right then
This is the test bot we built to play with Ackermann steering ideas, you can see the linkage is directly attached to the window motor, and it steers nice and quick.
There is a pid loop on the steering, notice the potentiometer.
http://photos.project1726.org/albums/userpics/10016/normal_IMG_2616.JPG
this steering system is easy to drive also, but has a pretty big turning radius, and little pushing power in reverse since it’s 2wd.