[zaphodb]

I'm seeing significant speed differences running the TB Minis (with two CIMs) in forward vs. reverse. Mostly this is at slow speeds. I assume this is "by design", but i'm curious that the sample code I've looked at doesn't compensate for this in any way. With two gear boxes on each side of a KoP robot and so the motors running in opposite directions therefore results in a turning force when attempting to drive straight. I assume this is a well known (non-)issue.