Re: Backwards motor
 

Be careful with that method, if you push the sticks full forward you (theoretically) get 254, adding anything more than 1 to that will cause it to wrap around to 0 and trigger a high speed reversal, that'll make driving kind of difficult.

You could put a software cap that limits joystick input to 254 - bias, whatever it ends up being, then the slower motor will reach full speed and the faster one won't, but that isn't perfect either. A percentage based bias adjustment, plus a sanity check to prevent wrap around would be a good solution.

Re: Backwards motor
 

You could reverse polarity and then equalize the torque with your code in the computer.

Re: Backwards motor
 

i think he means to change the drivetrain so all drive motors will be running clockwise when the robot is going forwards, and counterclockwise to go back..
prolly'll make a less symetrical robot, distributing the weight unevenly leading to left right bias anyways.. with the CIMs. i wouldnt bother. now if we were gonna use those drill motors again... then id try to match the motor rotation... easier than close looping.