#$%^&*AU2013237700B220160609.pdf#####ABSTRACT A tractor has hydraulically driven wheels at (12, 13) a cab end and castor wheels (14, 15) at an engine end. Each driven wheels is driven by a hydraulic motor (17) with a continuous adjustment of the motor displacement, with the motor being 5 driven by a pump also having continuous displacement. The motor displacement is controlled by an electronic controller (17C) in response to stroking of the speed control lever to manage the displacement to provide required drive torques at different points in the stroke. There is provided an automatic steering system having a guidance controller arranged to receive GPS position information which controls the 10 steering by differentially adjusting the displacement of the motors so that the automatic steering is independent of the manual steering which controls the pumps. FIGURE 123 1A 60 23 17 21172 16 4 34 3 650 r2-jINPUT 1 74 34A 12- 59 .44-, 59 1 S -46, r47 3CONTROL 10T 274- IG 30 17 25 24189 20 1lB 14 F-IG. 1I1
