This folder contains the Arduino sketch of the firmware. The program works as a simple command interpreter for controlling the wheel speeds independently. To compile, use the libraries provided in the *extra/factory_10011.zip* archive.
*extra/carcomm*
*testcarcom.py* is a small Python application to test the Nexus_Omni4WD firmware (sketch). The python application sends data packages to set the wheel speeds.
The Arduino controller 10009 with io expansion shield on the Omni4WD is Duemilanove/ATMEGA328 compatible.