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Originally Posted by troy_573
I have a quick question. Ok, of all the research ive been doing on omni drive systems i like the holonomic the best ... but since 2002 FIRST has only given 2 matching motors ... How can you accompish a true holonimic drive with only 2 matching motors ... oh yeah and i hate the 4 wheeled holonmic drive, it limits manuverability to fowards/backward and side to side 
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All you're concerned with is that the output speeds match eachother. This can be done with gear ratios to get them close to the same speed and shaft encoders to take care of minor variations. It's very similar to the way teams use shaft encoders to make sure their tank-style drivetrain goes straight.
"Limited maneuverability" isn't in the vocab of a holonomic drivetrain. Both our and SPAM's 'bots were of the 4-wheeled variety last year and they sacraficed nothing in terms of maneuverability.
Take a look at
Evette and
SAM if you'd like.