The wheels will allow us to drive omni-directionally. Right now we drive forward/ reverse and sideways. Here is video of us driving sideways.
http://www.first.udsd.k12.pa.us/AIA2005/video.html We can also spin inside our own footprint. The design makes us very agile. With more programming time and a custom circuit we hope to drive omin-directionally with accuracy. Our initial controls had too much drift in it.