Firestorm Drive System / Dual Differential

[Eventorizon]

looks impressive..... way too much work though, 2 x bosch 750 and a wotty job done.
If your really worried about going dead straight then use a gyro.

I am not interested in going straight, I just want to know how it works. But its not to much effort with the benefits that it brings over the normal left and right motor system. But hey, I don't build heavies so what do I know. It would be a great technical challenge to get it in a feather! Ooooo, hours of fun to be had there!

[daveimi]

The basic gist of this is that the 2 smaller motors power the planetary gears in the diff and the crown wheel holds the assembly still. If you spin the small motors one way the robot will turn left, spin them the other and it'll turn right.

To go forwards/backwards the big motor will spin the crown wheel and the whole assembly will turn forwards or backwards. By combining the effect of the fwd/bckwd motor and the two steering motors you get the full range of motion for things like steering slightly whilst driving forwards.

[Gaseraki]

Took me far too long to understand differential drive. Amazingly it took a video from the WW2 era to help me understand it