[nickbrickmaster]

Holonomic (4-omni) drivetrains are generally bad because there are better, more efficient, or higher traction options. Mecanum in particular is better than a 4-omni holonomic drive, with the same general setup. It's a bit more expensive, but more efficient (If anyone knows the exact theoretical numbers, please let me know.)

So yeah, in a competition (and you reaally wanted to use omnidrive), I would look into using Mecanum instead of this setup.