[Jared Russell]

We (341) used four AM Plastic Omniwheels this year. At Jersey, they were arranged in a diamond (kiwi style). However, we had bad slippage and controllability issues with this configuration.

For Chesapeake and Philly, we re-oriented the wheels a bit. The front left and rear right wheels go forwards/backwards, and the other two go left/right. This allows for:

1. Stability from all four corners of the robot.
2. Higher straight line speed in the principal axes than either kiwi or mecanum drives of the same gearing.
3. Mechanically straight driving. Try getting a kiwi bot driving straight without slippage or sluggish response, even with encoders and gyros! (We did, we failed, and then we changed it).

The drive is still holonomic, but way easier to control and operate in this configuration.

I also believe that this makes 341 (and I could be wrong about this) the only regional winner with a true holonomic drivetrain.