[JimmyNutrin]

Thank you for the help. I have arranged the mecanum wheels in the "X" fashion to allow it to move freely. The weight distribution is also fairly even, and the robot is slightly underweight. The wheels also have a lot of friction to them, and some of the rollers were locked up when I found them. (vise grips time)

I appreciate all of the math stuff. I attempted to show the difficulties of it at the beginning of the year, but I had little luck.

I think the primary problem here is that there isn't a high enough mechanical advantage. Since my last response, the team has decided to use ToughBox transmissions that we found in the shop. I looked at the gear ratios, and that should be the solution to the problem.