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Originally Posted by JimmyNutrin
Thank you for the help. I have arranged the mecanum wheels in the "X" fashion to allow it to move freely.
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Is that an X where it touches the floor, or an X when you look down at it from above?
If the rollers in contact with the floor form the X, you have a problem. With that arrangement, the robot can be turned easily by an outside force, and it will have a difficult time turning itself.
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The wheels also have a lot of friction to them, and some of the rollers were locked up when I found them.
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That is definitely a problem. It'll actually help the robot rotate in place despite the misarranged wheels, but strafing will be a chore. Get all the rollers rolling, and make sure the wheels are installed in the proper corners. Then the torque required for strafing will be lower, and your drivetrain might be able to handle it.