Verity :transHaskell:​:verifiedtransfem: on Nostr: you probably want the non-powered wheels to be castering, with their angle limited i ...

you probably want the non-powered wheels to be castering, with their angle limited

i don't think front or back really matters

but that makes it have hysteresis and go straight better

so it isn't a pure tank drive that literally requires moving each wheel the same amount in alternating steps

but it definitely makes the guidance more complicated haha, hard to know where it will actually go