[JesseK]

Originally Posted by Alex.Norton

As already stated, forward and backward is easy, it just acts like any other wheel here. As for strafing, this will depend on the angle of the rollers on the wheel, most will be 45 degrees, but I've seen other angles. If the rollers are set at 45 degrees then in the best case, the robot will strafe at the same rate it moves forward or backwards. Of course there will be some scrubbing losses, so it won't be optimal, but that is true or forward and reverse as well.

^ I can confirm this post. We did our testing in early 2010.