Thank you. Yes, Pure Pursuit came up a lot in my research. I decided that I could do without it for the trivially simple (straight line) situations that I handle now, but I do want to try it for more complex handling. I recall that the FroboMind field robot code uses Pure Pursuit or similar. (The target point is shown in the simulation.) I intend to try implementing that code on my machines.
I have Tractobot00 running again. I hope to start using it as a testbed soon.