Lara's Lego H-015 Sentry Droid

[kresty]

Uploaded code sample that we're using for the HO15.

Motors "just" add the appropriate inputs together to get values to drive the wheels. Communication with the R/C & Motor Controllers are presuming Pololu simple motor controllers like the 18v7. Our motors are the pololu 37D 30:1 metal gearmotors and they're attached directly to 4" VEX omniwheels.

LEDs are "normal" FastLED code - 5mm WS2811 pololu LEDs fit the technic and are similar to the WS2812b neopixels.

Arduino code for 4-wheel holonomic drive and 5 LED WS2811 lights

For movement, the additions are:

// Everyone gets the rotate speed
// left gets move
// right gets -move
// front gets sideways
// rear gets - sideways

motorSpeeds[SPEED_FRONT_LEFT] = stickRotate + stickMove + stickSideways;
motorSpeeds[SPEED_FRONT_RIGHT] = stickRotate - stickMove + stickSideways;
motorSpeeds[SPEED_REAR_RIGHT] = stickRotate - stickMove - stickSideways;
motorSpeeds[SPEED_REAR_LEFT] = stickRotate + stickMove - stickSideways;