Not really...the sensor is something I've never seen before. At first glance I thought it was just a DC motor, and in fact it looks almost identical -- a cylinder with a shaft attached. But there are some oddities. First, the sensor makes a clicking noise at about 15Hz. Then, the sensor's output, when viewed on an oscilloscope, doesn't really look like anything, so I'm not even sure what it's doing.
Finally, the sensor, for some reason, is capable of rotating around and around, and the steering motor itself must have some kind of limits on it, because the wheel at the back that actually rotates only goes between certain limits.
I'd be up for just recreating the sensor's output, but I'm at a loss as to what it even is. :-P Oh and to complicate matters, the robot is old, so the sensor's marking have all worn off.
Haha BUT! if anyone knows what this thing is that I'm talking about, let me know!