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Bane bots are keyed. we used them on our mecanum bot this last seasons with the 8" andy mark mecanum wheels. Honestly engineering the actual drive train was a piece of cake. We made a cad file of where we needed to drill holes in a sheet of 1/4" aluminum and then printed it out and drilled it in our smithy(drill press mode). The real troublesome part mecanum or holonomic drive is the programming. you need a way to keep your bot going straight. If you look on TBA our bot didnt fair well at the NASA VCU regional but we eventually got the kinks worked out in our programming and got the thing to drive reasonably straight. Dont worry so much about the calculations, those are easy, worry about programming, that is very hard and takes a long time to test. On average, teams that i have talked to take about a year to develop a good mecanum/holonomic code, so plan for this to be a rocky season