ackermann_steering_controller: electronic 'differential'

[Timple]

Background:

We have a vehicle with ackermann steering. The rear-wheels are independent driven with a single motor per rearwheel.
This becomes more common now that electric vehicles are a thing.

Proposal:

Would an extension of the ackermann drive be accepted where independent rear-wheels are an option?

Considerations:

Backwards compatibility with the existing parameter set would of course be taken into account.

[bmagyar]

Absolutely! Just make sure that the default behaviour is maintained as-is to avoid breaking things for other people. A feature flag to enable this would work nicely.