[pfreivald]

Our octocanum drive this year did absolutely everything we wanted it to do, including take heaps of abuse with no signs of wear. We used one cylinder on each side of the robot, controlled with a single valve. Our mecanum wheels were hard-mounted to the chassis, and the traction wheels were on the ends of pivots just barely long enough to accommodate the wheel geometry.

We absolutely love everything about it except the weight, which we're going to play around with in the off-season.