trait FrontWheelSteering:
    front_left_wheel:
        suspension becomes Vehicles.Suspensions.SingleMate.LinearSpringDamper with Vehicles.Suspensions.Properties.Steering
    front_right_wheel:
        suspension becomes Vehicles.Suspensions.SingleMate.LinearSpringDamper with Vehicles.Suspensions.Properties.Steering

    # Set up the steering type, here we use rack and pinion
    front_steering is Vehicles.Steering.Kinematic.RackAndPinion or Vehicles.Steering.Kinematic.Ackermann or Vehicles.Steering.Kinematic.BellCrank:
        left_suspension: front_left_wheel.suspension
        right_suspension: front_right_wheel.suspension
        interaction.steering_angle_output:
            enabled: true

    signal_interface:
        front_steering_angle_input is Physics.Signals.Input: front_steering.interaction.steering_angle_input
