Drive Train Overview

Drive Trains and Motor Groups

This article is WIP

This article will overview everything you need to know about drive trains in Alloy, and by extension, go over the fundamentals of motor groups

What is a Drive Train/Motor Group?

First off, in Alloy, a Motor group is a "smart" collection of motors that are able to regulate themselves and work together based on an input. Motor groups can represent any set of motors on the robot that work together, although the most common application of this is a Drive Train.

Motor groups consist of the motors they control, an input, and a mapper that maps the input to the motors. This can be thought of as

Input -> Mapper -> Motors

Inputs and Mappers

The input os

Encoders

Force and Offset