[Alex.Norton]

Our team has used a holomonic for the last 3 years. I would strongly suggest that you use some for of feedback is this system. We had no luck with it untill we put a gyro in the base. This would apply for both holomonic and mechanum because both depend on the motor speeds.

In terms of which to use I would suggest holomonic much more than mechanum. I don't like mechanum for two reasons: 1. Much more expensive 2. because of the roller set up on mechanums, even when driving forward or backward there is a side force placed on the bearings. This year we could find a washer to captivate our wheel (all of the lateral force on the wheel is placed on this piece). We decided to cut them on a laser engraver out of 16th inch acrylic (shatter prone) and we have had no problems with the wheels or anything to do with the drive train. I could not have done this on a mechanum because, in the most simplistic view, for every pound of forward force there would be one pound of sideways force and the washer would have shattered the first time the machine took off.

Just a couple of thoughts