[Nemo]

I disagree that programming a mecanum drive takes a significant amount of extra time.

Mecanum pseudo code:
M1 = x + y + z
M2 = x - y - z
M3 = x - y + z
M4 = x + y - z

6WD pseudo code:
M1 = y + x
M2 = y + x
M3 = y - x
M4 = y - x

Mecanum drives are nice and simple, both mechanically and in terms of software. I disagree with claims that in order to drive well, it needs suspension, closed loop control, or other extras.