FRC 48 2009 Drivetrain Test

Well the linkage drive lives. We must tweak one of the pivoting drive modules and add some additional programming, but it's looking good for now. Once we tune the turning ratios, the transverse mode will definitely help us get out of jams. We've got some joystick filtering and hopeful traction control code waiting in the wings. The hopper/dumper/puker/belcher is complete, funcitonal, and effective. We'll mate them together tomorrow, try it out, and post some vid later.

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