[EricH]

First, don't commit to a drivetrain until after kickoff. It's the worst thing you can do. Prototyping is fine, but planning before Kickoff is asking for the GDC to outlaw that design, or designing a game (or kit) so that it won't be the best.

Now, setup: 4 motors, 4 gearboxes, 4 mecanum wheels, and a fairly standard 6WD/4WD frame. Rig one motor to each gearbox, and arrange the wheels in the frame so that the tops look like either an X or an O. (Both will work, but the X pattern on the top resists spinning better than the O.) Connect the gearboxes and turn it over to the programmers so they can figure out the coding.