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Logic - Ackermann steering

Example vehicle for ackermann steering.


All you need is a 2x2 function block for every steerable wheel, using the following function:

x = X position of the wheel relative to the desired center of rotation (+ right, - left)
y = Y position of the wheel relative to the desired center of rotation (+ front, - back)
z = -45° to 45° steering input (-1 to 1)

You can either set X and Y via number blocks or replace them directly in the function. (this way you could also use the small function block since it then requires only 1 input)


The example vehicle here uses number blocks.
You can set X/Y in whatever unit you like as long as they both use the same unit.