Code Sample for Holonomic Drive (HO15 drive)

[kresty]

We're using:

• 4 Pololu 37D 30:1 motors,
  
• 4 VEX 4" omniwheels,
  
• 4 Pololu 18v7 Simple motor controllers,
  
• a bad 12V LiFePO4 battery,
  
• an Arduino (happens to be Leonardo), and
  
• 5 Pololu addressable LEDs https://www.pololu.com/product/2535 (program as WS2811)