[Hoover]

This is wonderful help, thanks.

Just for the record, If I had it to do I would strongly consider slide drive. I think mecanum will vibrate too much and if the robot (basically a fork truck) is carrying a stack of totes they could vibrate off.

We won't be having 4 independent suspension wheels with this setup. So that is not going to be a solution.

We also won't have encoders, but I think for us using the built in libraries this is not an issue.

But the drawback of slide drive is that I think the slide wheels will get caught on the lip of the loading platform even knowing it is tapered. In the best case it may cause an unwanted bump.