A method implemented in a machine comprises a first steering mode in which a left drive wheel and a right drive wheel 14 concurrently rotate, wherein the rotation of the left drive wheel is in a direction opposite that of the rotation of the right drive wheel and a second steering mode in which the left and right drive wheels rotate concurrently in the same direction and enabling one or more caster wheels 14A to freely steer rotate in the first steering mode and to steer-rotate according to a limited arc in the second steering mode. Also disclosed is a windrower having a plural drive wheels, a sensor, steering cylinder, a user interface and a controller, the windrower having a dual-path steering mode and a tailwheel steering mod wherein, in the dual-path steering mode the position of tailwheel casters are not controlled and in a tailwheel steering mode the steer-rotation of the caster wheels is limited based on caster steer position information received from the sensor.
