Sheet To Tiller is a budget friendly method of self steering for a small sailboat. I have been working with the system since I first heard of it. In the beginning I was frustrated trying to get it to work while actively sailing the boat. The book I had was difficult to manage while sailing, and it was difficult to navigate a webpage as well. I designed a small book called, The Sheet To Tiller Guide Book, with simple rules and photos to help the user while they are actively using the system. It can be found on Amazon. Available in paperback only. I hope you find it useful.