[Alan Anderson]

I can think of three ways to do it. One is probably more complicated and hackish than anyone should try. One involves completely ignoring the "Drive" functions and building your own out of regular Motor VIs.

The one that I'd actually try implementing myself is something like this:

Open each drive motor separately. Pass the motors' RefNums into an Open 4 Motor Drive function that's been set to the "existing motor" variant. Pass the rear motors's RefNums into a similar Open 2 Motor Drive function. Now you can choose to invoke the Arcade Drive function of either the 4-motor or the 2-motor Drive set. You'll have to disable the safety on the one you're not actively controlling.


I'm curious -- why do you want to do this?