If you are interested in some of the math behind differentials…

Desmos Graph

##
Graph lines

This graph represents resulting speed of the outputs based on the input speeds. In the gif one of the inputs goes from negative full speed to positive full speed along the x-axis and the other input cycles through negative full speed to positive full speed over time, thus the animated graph. To see the exact equations look at the desmos graph (everything there is labeled).

If you want to program differntials it is very simple, if you just need the basics…

```
//VexCode example
FrontRight.spin(vex::forward, drive.rightPower + tilter.power, vex::percent);
BackRight.spin(vex::forward, drive.rightPower - tilter.power, vex::percent);
FrontLeft.spin(vex::forward, drive.leftPower + tilter.power, vex::percent);
BackLeft.spin(vex::forward, drive.leftPower - tilter.power, vex::percent);
```

The design has two differentials, with the second outputs linked so, there three different values `(drive.rightPower, drive.leftPower, tilter.power)`

. For each differential one of the values you add to both motor and one of the values to add to one motor and subtract from the other.