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Re: Wheels for drivetrain
When you say the motors directly drive the wheels, do you mean there's no transmission in between? If so, I think you'll have trouble with a lack of torque, whether you stay with mecanums or change to any other type of wheel.
Also, a four wheel drive with high-traction wheels will have difficulty turning on carpet. I recommend using one pair of traction wheels (plaction, pneumatic, etc.) and one pair of slick wheels (eg. omni). Put the traction wheels in the back and slicks in the front, or the other way around. And if you don't have it already, I highly recommend some reduction between the motors and wheels; you'll need the torque.
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Cal
R3: Red Raider Robotics (FRC Team 578)
Fairport, NY, USA
www.FairportRobotics.org
2016 Finger Lakes Regional: Semifinalist on Alliance 7 (1128, 2010, 578)
2016 NYC Regional: Finalist on Alliance 3 (3419, 578, 3017), 4th seed team, Team Spirit Award
2015 Finger Lakes Regional: 8-3-0 in qualification, 7th seed, Quarterfinalist
2014 NY Tech Valley Regional: 8-4-0 in qualification, 13th seed, Semifinalist
2013 Finger Lakes Regional: 4-5-0 in qualification, 26th seed, Alliance 6, 1-2 in tournament
2012 Buckeye Regional: Gracious Professionalism Award, 7-3-0, 14th seed
2011 Finger Lakes Regional: Engineering Inspiration Award
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