[MarkO]

Originally Posted by Quazar

I just assumed he would hook it to a trailing idler wheel (like a traditional caster). As the robot steered off the straight line, this caster would pan left or right a bit to follow. I assumed he would hook the potentiometer up to measure that angle.

Of course, this only works if the robot never backs up, since as MarkO points out, it can't handle continuous rotation.

- Dean

EUREKA!!!

Look at the "Articulated Steering" section, in this Steering article. That can be done with a Potentiometer.