[Bob Steele]

Here are a few answers.

Omni and standard wheels in this configuration really would not allow movement in all direction. If we use standard wheels perpendicular to the omni wheels the omnis would have to push the standard wheels sidewise to travel in that direction. Our drive train last year had omni wheels on the corners and other drive trains I have used in the past have had omnis on one end and standard on the other. These are certainly viable configurations but do not give an unlimited range of direction without turning the robot as this drive should give.
It is simply impractical to push standard wheels sideways. Even in our drive train last year we saw the "hopping" of the robot as standard wheels were pushed in a direction slightly off the rolling axis. Completely sideways would require much higher powered motors and breakers... and of course is impractical...

We are using the wheels from the TechnoKat drawings. they are 7.7" diameter approximately. We can purchase wheels from AM and have done so in the past. We would like to make our own this year. Materials for these 8 wheels come to approximately the same cost as 8 omnis from AM...
It is the process we are interested in... One can always purchase solutions and sometimes that is the best way. We want to develop our own as part of the engineering process. The off-season is a good time to do this in our opinion. We are starting with the TechnoKat design and modifying it to suit our needs and to try and improve on the design both technically and in a way that will allow it to be made cheaper and within the constraints of our resources...

The wheels will be direct driven by the banebot motors. Application of the power will probably be done through a keyway...this will require a modification of the banebot shaft.