[Dad1279]

If you look at one of the modules we used last year, we mounted the transmissions directly driving the traction wheels to the chassis. The mecanum wheel modules pivoted on this axle, with acetal slides mounted alongside the wheel modules near the mecanum axle.

This worked fine for two regionals, through considerable robot-robot interaction, and a few off-seasons, demos, and testing this year.

With the higher COF, the traction wheels would put more sideways 'force' on the chassis, when being pushed sideways. I haven't measured it, but it takes considerable more force to push a roughtop traction wheel sideways than a robot on mecanums.