[Bstep]

Whatever you decide to build, keep in mind the surfaces that your robot will be operating on. Mechanum wheels work nicely on FRC carpet, but the harshness of bumpy asphalt will make them prone to failure. From our experience as a team, our best outreach events have been on pavement and/or outdoors, not on carpet. If you want to please the crowd with omni-directional driving, then do a swerve because you can use wheels that will have easy-to-replace tread. Parades are really nice outreach events, but after driving the robot a couple of miles on the street, there won't be much left of your Mechanum wheels.