We built our corner omni drive in week 2. We used a vex cortex controller for testing since our team only has one cRio. We are using the cRio on last year's robot for velocity controller testing.
http://www.youtube.com/user/lamardiscobots
So far we are impressed with our maneuverability in open loop control !
Feel free to browse our Google Code repo if your interested in our VEX or cRio code.
http://code.google.com/p/discobots/updates/list
Week 3 video preview:
Working claw and a video that shows off closed loop velocity/gyro control!
From what I've seen in FIRST, teams that copy generally always learn something from it, and if they don't, the copy they produce is of much lower quality than the original. - TheOtherGuy [more] 
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