[JesseK]

I too believe the controls for omni vs. mecanum is the same for robot-centric driving. Simply align the omni wheels in an "O" pattern offset from the chassis and you have it.

Your biggest problem in building a mecanum/holonomic drive train will not be manufacturing it and getting the mechanics to work properly. In fact the hardest thing will be keeping the team energized, focused, and motivated when they're creating probably the most complex system they've faced thus far.

Take it in steps. There are several teams I saw (and have photos of) in Atlanta who have a small CIM attached to the 56mm 12:1 Banebots transmissions that go directly into AM Mecanum wheels. Some of these teams won their regioinals, so that tells me it's a simple and effective enough setup. This setup costs ~$1100 (avg. chassis price included), so be prepared.