Code Sample for Holonomic Drive (HO15 drive)

[kresty]

Some more details for that code might be good It's intended for 4 Pololu simple motor controllers and 3 normal R/C inputs.

The motor controllers need to be assigned #s in the "simple motor control center", and configured for "Serial" input. I used 38400 baud because I'd done that before, it might be able to go higher.

I made these assignments (which are in the comments of the script

#13 (decimal) is Front-Left
#14 is Front-Right
#15 is Rear-Right
#16 is Rear-Left

I use "Rotate" as the 'rudder' RC Channel 4, which I attach to Channel 1 of the Front-left (#13) controller
I use "Fwd/Back" as the 'elevator' RC Channel 3 - which I attach to Channel 1 of the rear-left (#16) controller
I use "sideways" as the 'aileron' RC Channel 2 - which I attach to Channel 2 of the Rear-Left (#16) controller
The other R/C channels/inputs are unused, but you could use them for other purposes.

Those 2 controllers (13/16) are the "first" ones on my chain the way I wired them, but they don't have to be. I used those two because they were closest to where I mounted the Arduino. They skip numbers because I #'d them in a different pattern than I ran the wires.