Core Interaction

The interface maps the handle's position to the Instantaneous Center of Rotation (ICR) via periodic tangent projection.

• Handle Zone [0% - 100%]: ICR moves from rover center to infinity.
• Handle Zone [100% - 200%]: ICR wraps from -infinity back to center.

Wheel Geometry

• Zero Delta (0.0°): The system is calibrated to the Pivot preset (Handle 0.0% X, 0.0% Y). All wheel readouts are relative to this inward-facing neutral state.
• Inward Alignment: Orange indicators represent the steering radius. They are always perpendicular to the wheel bodies and point **inward** toward the focal point.
• Operational Modes: Straight aligns wheels forward (Handle 99.95%); Crab rotates wheels 90° for lateral gliding.
• Ackermann Constraints: Locks ICR to the rear axle extension. Handle % X is restricted to [19%, 181%] to maintain a valid car-like turning radius.

Debug Features

Enable Debug View to see the full operational rhombus, focus masking quadrants, and the virtual handle partner used for wrap-around projection.