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Published on Mar 19, 2011
This is a LEGO holonomic drive platform powered by a VEX Cortex controller. The NXT motors are controlled with a Holit Data Systems motor MUX which can handle up to 3 motors. The MUX is controlled through I2C which is bit-banged on the Cortex. The driver is the same as the one I wrote for the NXT with the I2C sub system switched out for a VEX Cortex specific one. The Cortex platform does not currently officially support I2C, which is why I had to write my own driver for it. It runs at about the same speed as the standard slow NXT I2C speed (9600Hz).