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I dremmeled out a barrier which prevented the tractor from making tight enough turns to fit on our porch. I still have not solved how to do the steering. I may cut the metal beads out of some mountain bike tires and make a tracked vehicle, which would be easier to program. My daughter is my fearless test pilot, and she says she wants it to climb steps. I think a sensor to prevent her from going off ledges may be in order.