Mix Ackermann steering and differential thrust for a virtual differential

[igalloway]

Some vehicles have dual drive motors (L+R) in the rear, along with but Ackermann steering.

By mixing a percentage of the steering with the left or right thrust, a virtual differential can be formed.

This might be needed in any case in order to tune/adjust the L + R thrust even when not mixing in steering

I assume this is a straighforward mixer configuration that would drive a proportion of the steering output and mix the L+R thrust motors.

[stale]

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