https://rustyeddy.com/tags/steering/Recent content in Steering on Rusty EddyHugoen-usSat, 30 May 2026 06:44:45 -0700https://rustyeddy.com/notes/skid-steering/Wed, 15 May 2019 00:00:00 +0000https://rustyeddy.com/notes/skid-steering/<p>Skid steering basics</p> <ul> <li>Based on <em>fixed direction wheels[1] or tracks</em></li> <li>There are two <em>groups</em> or <em>sides</em> of wheels: left and right</li> <li>All wheels in a group MUST always point in the same direction</li> <li>All wheels in a group MUST always rotate at the same rate</li> <li>Direction is determined by the speed of the two wheel groups <ul> <li>To move straight all motors rotate at the same rate</li> <li>Forward and Reverse are determined by positive and negative values</li> <li>Turning is achieved by varying the throttle on the right and left</li> </ul> </li> </ul> <h3 id="example">Example</h3> <p>The <code>Skidder</code> class has the following API, as you can see all of the movements we desire can be accomplished with a single API call <code>skidder.set_throttle(left_throttle, right_throttle)</code>, does not get much simpler than this!</p>