[Matt C]

Team 190 pulled off a rather successful field oriented control using custom mechanum wheels back in 2005. Back then though we were able to make a segmented frame that had a pivot so that each wheel would remain in contact with the floor. From what I remember, the system also brought the old IFI control system to it's knees.

The coolest thing that they were able to do with a field oriented control was spin the robot around while moving in a straight line.