[Kevin Sevcik]

I'm trying to figure out how you're going to turn a standard 4-6 wheel drivetrain into a holonomic setup with omniwheels. Are you going to add a third gearbox with a strafe wheel perpendicular to your normal drive wheels? Otherwise you're talking about a Killough setup where you have 4 gearboxes and 4 omniwheels on diagonals at the corners of your frame. And I don't see how you're getting the standard belting to work with that.