[EricH]

Originally Posted by DeepWater

1) The wheels seem to be place incorrectly. The rollers should form an "X". It is my understanding that this is the only way Mecanum drive will work properly.

They can be in an "X" or an "O". As long as the identical ones are on opposite corners, they should work. (different programming, though) The advantage of this type is that it's harder to spin around by pushing than the "X" layout. See here. And, for one of the best ones out there, see this picture and find the associated thread