I'm trying to build a wheeled quadruped tank capable of omnidirectional movement using the pitch and roll inputs, which I imagine shouldn't be too hard with funky trees but despite reading up on it I still can't wrap my head around actually applying funky trees to make it work. Basically I want it to crab walk in the direction the pitch/roll inputs are directed but I'm running into 2 issues:
1: Each wheel set is spun around by a rotator and the front of each wheel set should face the direction the pitch/roll inputs are directing it but I can't figure out how to do that for a full 360°, best I could manage was 180° limiting it to forward and sideways movement.
2: With this movement system I only need positive engine inputs however that only corresponds with positive pitch/roll inputs limiting movement forward and right, as trying to move left only reverses the engine inputs making it move right still. I need the engine to recognize both positive and negative pitch/roll inputs as positive so no matter the direction the wheels face it continues to run "forward".
Any help is appreciated, unlisted WIP of the build here for reference: https://www.simpleplanes.com/a/8muwmC/Spider-Tank-Type-L-WIP