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Ackermann Steering

This microcontroller adds Ackermann steering geometry to your vehicles to solve the problem that wheels should angle differently in turns. You can also set the minimum turning circle.
You only have to measure (count) dx and dy of your vehicle and set the correct wheel size, that's all, the controller also shows the turning radius of your vehicle with the given parameters.
An error is shown, when the turning radius is too small.
The min. turning radius @ pivot is measured between the center of the car pivot and the centerpoint of the smallest possible turn, the turning circle is the diameter the outer wheel of the steering axle describes.

Tips:
dx is the distance in blocks between the two turning wheels (in the picture: 5 blocks)
dy is the distance between front- and rear axle, also in blocks (in the picture: 1/2+9+1/2=10 blocks)
for real wheel steering, dy should be negative
If the contoller shows an error, that the turning circle is too small, increase the turning radius, when creating a vehicle with multiple steering axles, check all controllers for errors.

Controller size: 3x1

Inputs/Outputs:
- Steering Input (-1..1): from your steering wheel
- Left wheel: to your left wheel steering input
- Right wheel: to your right wheel steering input

Properties:
- Wheel type: choose the correct wheel type.
- Left-Right [blocks]: the distance (blocks) between the front wheels (dx)
- Front-Rear [blocks]: the distance between the front and rear wheels (dy)
- Min. Turning Radius @ Pivot [m]: The minimum turning radius at reference point