[Ether]

Originally Posted by sakekasi

As an off season project, I am working on a holometric drivetrain system with a mechanic on my team. A holometric drive has 4 omni wheels at 45 degree angles to a square frame and can go in any direction using vector cancellation.

I was wondering how I would compute the speeds to power the wheels at given the x and y components of the vector that indicates the desired motion of the robot.

Any ideas?

I think you'll find what you are looking for here and here.

Or here, at line 00460.

BTW, the word you want is "holonomic" not "holometric":

http://www.holonomicwheel.com/index.jsp

http://en.wikipedia.org/wiki/Omni_wheel