We built our corner omni drive in week 2. We used a vex cortex controller for testing since our team only has one cRio. We are using the cRio on last year's robot for velocity controller testing.
http://www.youtube.com/user/lamardiscobots
So far we are impressed with our maneuverability in open loop control !
Feel free to browse our Google Code repo if your interested in our VEX or cRio code.
http://code.google.com/p/discobots/updates/list
Week 3 video preview:
Working claw and a video that shows off closed loop velocity/gyro control!