[IndySam]

Originally Posted by lukevanoort

I agree with Don; if you haven't already built a crab/swerve or have a really solid idea of how to do it, don't. Crab/swerve is probably the most mechanically complex drive system you could try, and the software is even worse. I also agree with Tyler, mecanum is probably the simplest way to a omni system, but it still will require significant amounts of research. The bottom line is, do you want to spend six weeks on a drive system that you've never tried before and risk completely failing, or do you want something tried and true that can be complete by week two (or even before, depending on shipping times)? If you;re adamant on using an omnidirectional system, the PowerPoint on them at the FIRST Robotics Canada Resources Site would be a good start.

Good advice but the good thing about a mecanum drive is if you can't get it to work you can always put on regular wheels and drive.