[rlance]

We also built a holonomic robot using the omni-wheels just for fun in the past few weeks. It does not look nearly as nice as yours, but it was a great experience for the programmers and drivers and gives us a second option for a drivetrain. Since ours wasn't intended for competition we used BAG motors on VP Gearboxes to run the wheels, which got really hot after about 3 minutes of use. I noticed you have heat-sinks and fans on your CIM motors. Did you have an experience in the past that influenced that decision?

Because of the nature of the wheels, these robots don't have great traction and aren't made for pushing matches. That being said, did that influence your decision on gearing, such that you are going for speed over power?