[Chris Fultz]

[quote=Andrew Schreiber;880335
Out of curiosity, if you are going to connect all 4 modules together why bother with 2 Globes? [/QUOTE]

Yes, for redundancy and accuracy.

Redundancy - One globe has the power to turn all for modules, two will make sure they will turn even if one fails or loses power (connector, software, etc.)

Accuracy - By tying all four together, we are assured that each wheel turns the same number of degrees all at the same time. Keeping the left side and right side separated would allow for error in the systems to let one set of modules turn a little more or a little less and possible not return to "0" after a turn.

Also, this is a prototype / demo and some of the precautions and redundancies we are putting in might not make sense on a competition robot where you are making the risk / complexity / weight trade-offs.