I work on appropriate technology, alternative energy, and earthen construction projects in South Sudan
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Saw a piece on the BBC website about your project and how the steering of the two motors was a work in progress. Strongly suggest you read up about Braightenberg vehicles - once you get your head around how simple and roboust it (they) is (are) you can do yll sorths of things at very low computational effort (which includes developer hours)
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