[JesseK]

Each year at least one holonomic-like drive makes it into Eliminations at champs. While the drive itself isn't the only factor in that success, the teams who drove those bots felt very comfortable with them. So get started with building and driving that drive train now.

There are several whitepapers here on CD that give example code of omni-drive, both driver and field-centric. Go to "CD-Media" at the top, then select "Search" under "Papers". Search for "holonomic", "omni drive", and even "Mecanum" since the code is all very very similar. Try not to dismiss any of the papers just because they're too technical -- they all have something of value.