[EricH]

Originally Posted by Lowfategg

On our FTC bot this year the CG was a little bit forwards of the rear wheels so it worked well. My guess is if we did an FRC bot next year we would go with a six wheel drive system using omni wheels on outside with traction wheels in the center. Just on another note whats the best kind of omnidirectional drive in the real world and not just looking a pros and cons of the designs of each.

OK, that might work. Don't go with a "rocker" system if you do, though. That's too much maneuverability.

Actually, I just remembered. 494 did this a few years ago...
Corner omnis. The idea is a 4WD with the traction wheels on, say, left front and right rear. The other slots are omnis. Apparently it works pretty well.

Omnidirectional drive is the holonomic/mecanum/crab/swerve drives. The best type depends on the game.

Mecanum: 4WD with specialized programming and each wheel independently powered. Oh, and mecanum wheels.
Omni: 3-6 omni wheels arranged so that you can slide. It's a little trickier than mecanum.
Crab/swerve: each wheel turns. 3-4 wheels.