In the first week Team 2175 threw together this prototype of a holonomic drive system.
It uses four 6" plastic omni wheels from Andymark we had lying around from 2008. We decided we wanted to favor one direction so we used two CIMs in the CIMple boxes for forward and one CIM in each Toughbox for strafing.
You can watch a video of it at
http://qik.com/video/29163485.
And yes there is no battery. It runs off of magic.