[SimulationX]

during the Breakaway challenge my team used 3 omni-wheels spaced out in an equilateral triangle, all wheels faced different directions, and we could go in any direction by varying the power to each. at full power, only two wheels were in a direction capeable of pulling us foreward, but since the wheels were angled, we could only get the square root of two (1.4) CIM's worth of power out of two CIM motors

our robot was very slow and couldn't push anyone around

now, i know there are other forces in play and you will have more force than our robot, but keep in mind that with only two CIMs you will probably not push a robot with 4 CIMs