[slent thndr]

That sounds like it would be a nightmare to program. What is the typical way that the sticks control it anyway? For instance, does one control stick control straight, sideways, and diagonal movement, and the other stick (ch 4) control spinning? (that would be like a video game) Or would the right stick control forwards, backwards, and spinning like a normal bot, and the left stick (ch 4) control strafing (sideways motion)?

With the last mentioned approach one could possible leave the right stick in the normal 4 wheel drive/ 12 configuration, and just program ch 4 to mix in strafing (sideways motion).

Does anyone have an existing program for this that they could post?

My concern with the whole omnidrive idea is that a lot of the power is being wasted. Comparing forward motion, how much slower is an omnidrive bot compared to a conventional drive train design with otherwise the same weight and power?