I have a robot with 4 motorized wheels. 2 rear wheels have no steering, only drive. 2 front wheels have steering + drive.
I use stepper motors for drive. The front wheel position is known from a potentiometer.
the input provided : a forward order with a value forward or reverse (related to frequency step motor move), and a pot value (steering wheel position)
the output needed : I need to get the movement required for all wheels independantly (ackermann steering) this is a non-skid job.
The code will be running on arduino nano, or arduino mega.
Your code have to be adapted to my robot (sizing)(angles)(pot analogic reading). The robot is existing, your code will be tried.
ackermann steering :
the mars curiosity uses the same system and nasa does share it here :
Thank you !