Code Sample for Holonomic Drive (HO15 drive)

[kresty]

I used RC servo cable for my signal line, but I had to use different connectors on the ends. I installed my own .1" header pins. Each controller needs RX and GND to go to the next controller, so I each of those pins has two wires attached to it (at least for the first 3 controllers).

I made a "thing" on Thingiverse https://www.thingiverse.com/thing:2779561 that provides a jig to hold the individual header pins at the right spacing. You could, of course, just use a 7 pin (housing). I had individual pins available though. I also made the housing because we've had problems with individual pins getting knocked loose on other droids and not knowing for sure where they were supposed to connect to - or being in a rush and having a hard time seeing in bad light and accidentally trying to attach them off-by-one.