This is my half tracked vehicle. It is remote controlled by the PSP-NX-V3. In "normal" mode it is driven by one joystick, it has no differential but when turning, the back two motors go at different speeds, simulating a differential. When you hold down the R1 button, it goes into "two joystick" mode where the left and right joystick control the treads independently, great for getting around tight corners, the right joystick also controls the front wheels.

You can download the program here.
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Name Half-Track
Designer tendersby
Designed 2013
Inventory 174 parts
Theme Mindstorms > NXT
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Help Guide - BI File Types

This MOC also has a 3D digital file available (eg LDD, MPD, etc): 3D Model