[AlexanderTheOK]

Correct me if I'm wrong, but since mecanum wheel rollers, when moving forwards or backwards, may not spin predictably due to friction in the rollers, you may not be able to get any good precision out of them.

With something like killough, kiwi, or X-drive the rollers will be forced to spin since the wheels are actually angled, providing more deterministic roller movement.

Also, 2 minutes? I doubt you would get that kind of precision over that time period. Any errors in angle measurements have a huge effect on positional measurement.

If your gyro drifts even 2 degrees, your positional error over 5 feet would be that's sin(2 degrees)*5 ft. Which is just over 2 inches already. I imagine you plan to drive your robot a lot more than that.

If you really need this over a 2 minute time period you may want to think about having the robot drive itself into a wall or corner to re-zero its measurements at some point.