[Pockets]

My team is experimenting with this idea. We're using mecanums.

Because the mecanums might slip some as they drive, and because the rate of slip may be variable, encoders on the wheels may not be very accurate. We're going to try adding small, non-driven wheels in the center of the robot, perpendicular to each other. Each one will be on a pneumatic powered arm and be connected to an encoder so we can measure how far the robot has traveled in the x and y directions.