[omalleyj]

Originally Posted by Joe Ross

If you are using omniwheels, they should be mounted at 45 degree angles from your frames edges. If you mount them parallel to your frames edges, the robot will travel diagonally when you command it straight if you use the holonomic code from wpilib. What does your drive system look like?

That is not actually correct, straight forward and back are the only things that will work correctly if using omni's mounted parallel to the frame. But you are certainly correct, they must be at 45s to work for anything else.