How to make a wheel turn and rotate without counteracting each other?

Help and Feedback Scripting Support
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  1. What do you want to achieve? Keep it simple and clear!
    I’ve gotten quite far with my raycast vehicle, but I’m having problems rotating the welds on my wheels. When I use the wheel steering or rotate wheels by themselves, they rotate in the direction I expect.
  2. What is the issue? Include screenshots / videos if possible!
    When both are used at the same time, though, the rotation is thrown off.

I have my wheel steering and wheel rotate code below.

--Wheel Steering
			if string.find(wheelName,"F") then	
				car[wheelName].Tire.Weld.C0 = car[wheelName].Tire.Weld.C0 * CFrame.fromAxisAngle(Vector3.new(0, 1, 0), math.rad(SmoothSteer * LimitSteering)) 
			end

--Rotate wheels
			wheelRotations[car] += LocalVelocity.Z/60
			local Rz = wheelRotations[car]
			car[wheelName].Tire.Weld.C0 = car[wheelName].Tire.Weld.C0  * CFrame.Angles(0,0,math.rad(Rz))

The wheel steering is applied first.
https://giphy.com/gifs/LyYnnLWgmbhBS6C61M

Rotating the wheels (without steering)
https://giphy.com/gifs/IWy0pOVnXiYDt3EyOZ

Both applied together
https://giphy.com/gifs/GOR0cuwiP2xHKg6Yq8

As seen above this is not the expected behavior. I’m not looking for you to code it for me (what is shown is brief) just an explanation or pseudocode that would help me solve this.

2

you can make the front wheels spin freely like without them being manipulated by script and make the backwheels do the spinning cuz it seems its breaking cuz the code doesn’t know what itsdoing