[Jeff K.]

We haven't done an omniwheel holonomic drivesystem, but we have done a mecanum system using the AndyMark wheels, and tried field oriented control, but opted for driver control because it was easier.

1. Materials, gear, aluminum, give or take about $100 per gearbox, and 1 for each wheel so $400 there, and then if you went with the mecanum wheels, $375. Using omniwheels would be more cost efficient. So roughly $800 like AdamHeard estimated.

2. We could actually push some robots around, or at least hold our ground. The forward traction due to the mecanum wheel was present. Majority of robots though will be able to push you around with any type of holonomic drivesystem. But traction is the tradeoff for maneuverability, so don't rely on it.

3. It just depends on your driver and your robot. We spent a large amount of time programming it to work off the gyro, but due to vibrations, the gyro kept getting thrown off.

4. Last season was an interesting season and was a good exercise in programming. If we could do it would we do it again? No.