Skid steer

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Skid steer, or Tank drive, is the most common form of drive train on robots. It involves two sets of wheels (or treads), one on the left and one on the right, which are individually powered. This allows turning by driving each side at unequal velocities. When the control system comes out of the box this is the default configuration of the controls.

So to stop, stop both sides:
Image:Skid_None.png

To go forward (or backward), set both sides equal:
Image:Skid_Forward.png

To make a turn around the left side, set Left to 0 and Right to something else:
Image:Skid_Left1.png

To do a turn-in-place to the left, set Left to the opposite of Right:
Image:Skid_Left2.png

To do a shallow right turn, set Right to about half of Left:
Image:Skid_Right0p5.png

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