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Our Robot, Metal in Motion (Team 343) also used Omni-directional multi-mode drive train. We had a 6 wheel drive system (4 in the X direction and 2 in the Y direction). The X direction had a 2 speed transmission and the Y a High torque single speed transmission. The primary mode that we operated in was the 'Tank Drive' mode with all 6 wheels driven which gave us a very fast forward and reverse speed and tremendous rotational torque. Also if the driver pulled the trigger on his joystick our robot would switch to the X/Y mode where we could move forward/reverse left/right or crab.
Don Taylor
Metal in Motion
Team 343
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