Currently working on the control software for a mecanum drive system. I’ll be creating a little raspberry pi mobile platform to drive the pi around as well. All hopefully controlled via a web or joystick interface. Debating whether I want to go with a custom controller that communicates with the pi over xbees, or a local network web interface that sends data over web-sockets from virtual javascript multi touch joysticks. Both sound pretty appealing.

So far I’ve been experimenting with the i2C interface pwm board to control the continuous rotation servos driving the mecanum wheels. My ( currently in progress code ) can be found on my github, Adafruit-PWM-Servo-Driver-helpers.