[BJC]

Just out of curiosity, how do you have the controls set up? I've personally always disliked those funky Halo and Pacman type setups. Assuming a handheld controller I was sort of thinking along the lines of a standard tank drive for the 4 outer parellel wheels (for primary driving) and then using the L and R triggers to drive the 2 perpendicular wheels either Right or Left (for strafing). This way the robot is very easy to drive but still fully mobile in every direction using a combo of joysticks and L/R.

Anyways, really cool project, I personally prefer slide drives over mecanum wheels and this one looks very nice.

Edit: Answered above