Finished grip steering

koptilnya/grip_steering/slave.txt

@@ -10,6 +10,7 @@ function Slave:initialize(options)
     self.caster = options.Caster
     self.ackermann = options.Ackermann
     self.isLeft = options.IsLeft
+    self.offset = options.Offset
 end
 
 function Slave:rotate(ang)
@@ -17,9 +18,12 @@ function Slave:rotate(ang)
         self.entity:setFrozen(1)
     end
 
-    local angle = Angle(0, ang, 0)
+    local ackermann = math.sin(math.rad(ang)) ^ 2 * self.ackermann * (self.isLeft and -1 or 1)
+    local yaw = self.offset + ang + ackermann
+    local roll = (self.isLeft and 1 or -1) * self.camber - ang / 270 * self.caster
+
+    local angle = Angle(0, yaw, roll)
     local transformedAngle = self.base:localToWorldAngles(angle)
 
     self.entity:setAngles(transformedAngle)
-    -- rotate slave here
 end