Omni-directional drive

[Chipawa]

Team 1111 used a holonomic drive with 4 omnis, one in each corner at 45 degree angles. We used this for the 2008 game "Overdrive." Fairly simple mechanically, but took a bit of tme to program.

As stated before, the direction of motion is based on the sum of force vectors. Make sure your inputs to the drive motors are balanced, otherwise you may start fishtailing. Ways of overcoming this is by having a good driver or a gyro sensor to compensate.

Because of the force balancing act needed for omni, I would think a mechanum drive would be easier, but still provide a good strafing capability.