[EricH]

Originally Posted by yash101

It will go on just as regular wheels would, however, using a separate transmission for each wheel. The rest of the changes required are all in the robot code.

This is a HUGE benefit of mecanum if it's your first time doing it. You can even (should you build a practice robot) build for an easy switch. 330 did that in 2005--never did put the extra trannies onto the competition robot, though; it stayed as a 2-gearbox, 6WD despite having the ability to go mecanum.

One thing I haven't seen brought up, but I've seen on a mecanum drivetrain (not on the competition robot for that year, just a test mule): If you have a heavy-ish load located well outside your frame perimeter, don't expect to be able to strafe straight without closed-loop control. This goes back to the whole "keep all 4 wheels on the floor" principle, but more along the lines of "keep the same weight on all 4 wheels" to the best extent that you can.


Oh, and my opinion of mecanum is this: If properly executed, and in a game that actually requires the extra mobility, and properly used, it's a pretty big advantage, until you run up against a swerve. The swerve is better in terms of traction, and worse in terms of complexity. If, however, the mecanum is not properly executed, or used properly, or the game doesn't actually require the extra mobility, then the team could have probably used the weight better by building a 6WD (or similar tank drive) and allowing for more material elsewhere in the robot. Probably. (Note that this does not apply if "cool" is a driving factor in the design more than "competition effectiveness" is, or to any offseason robot built for non-competition purposes.)