Best practices for 4 motor drivetrains in tank drive

[Conor Ryan]

So we have a 4 motor drive train controlled by 4 PWM's, it's a tank drive.

Would it more sense to use the 2 motor.vi with a Y cable and 2 PWM's, or have 4 PWM's controlled individually?


My thoughts:
I'm thinking to lighten the load on the processor it would make most sense to go with the 2 Drive + Y Cables. We aren't doing any high end vision processing for now, and sensor usage is fairly minimal.

But... for reliability's sake at least you can drive on 1 motor if a PWM cable pops out.

But... wouldn't a 4 PWM set up be theoretically more difficult to setup in autonomous?

I think it's a toss up, I think I just convinced myself to go with a 4 PWM set up (no Y Cable).