re: I thought the rovers could function without all their wheels?
Well - it doesnt really have to function with only 5 wheels - it's infact driving on 6 currently - and compensating for the 7 degree off-straight FR wheel with the other 3 steering wheels and managing some fairly straight driving as a result :) Turning in place to line up for IDD work will be a bit of a fiddle, but not too bad with 3 steering and 6 powered wheels. They could even loose another steering mechanism and essentially Tank drive it around.
Doug