[JVN]

Very, VERY cool. In order to make a holonomic drive useful, you need to make sure the driver can utilize it. This usually means it needs to be intuitive for the driver to use. Your implementation is absolutely fantastic.

Our team opted to make the system mechanically intuitive, whereas you solved it with some GREAT software (this is where my coworkers would mock me for always opting for mechanical complexity instead of a "line of code").

Are you using a gyro for orientation? Does it still function after going over the bump? What are you bolting on top?

-John