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Recently my team has been discussing ideas of what kind of drivetrain we might want to use next season. One discussion points that has often come up is traction. Wheels such as omni and mechanum provide great maneuverability but lack traction and usually void you of most defensive capabilites despite the setup of the rest of your drivetrain. Assuming you havn't built a wheel switching mechanic (that I find would likely take up a lot of space, weight, and time), it's difficult to be both very pushy and agile
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My team this year had a drive train with omni wheels in the back and plaction wheels in the front so we can turn easily but also be able to have some traction. Our programmers using our wheel encoders made it while we hold down a button we can't be moved forward and back and did it for the left and right swing with the gyro.
We would go to the unprotected feeder and people wouldn't be able to push us sideways we actual broke a teams drive train while the tried to push us.