Wiring (or the rats nest)

The wiring is almost complete in that it works as intended but it looks a mess
i need a couple of days for a tidy up maybe its time to use RC style motor controllers and put them next to the motors the single wire would make it look cleaner

Steering Update

After a week off driving and testing most things work as expected crab steering works well with the potentiometers limit of 300 deg and no reverse drive at the moment being the main limit Ackerman steering works to about 22 deg off center, but spin in place results in skidding of the wheels. With the above in mind I changed the steering to independent 4 wheel steering and drive