I am having a hard time on the steering of my sub im building from scratch. Can anyone help me out. I can either have a rudder, but i don't have enough space & time to fit the mechanisms in the sub.

Would it just be easier to attach two mini water proof motors on the two sides of the sub, then as one or the other speeds up or goes faster than the other side, it allows it to turn.

If the rudder idea is best where should I potition the rudder, and how do I set it up so that the rudder just moves the certain amount, not like a moter where it keeps going. Thanx,
Joe