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The end result should be two equations that get the inner and outer steering angles based on track, wheelbase and turning radius.
Video: If you’d like more information, the video below goes over the bicycle kinematic model, but more in depth. https://www.youtube.com/watch?v=35lZlO6NrO0&list=PLW3FM5Kyc2_4PGkumkAHNXzWtgHhaYe1d&index=9
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