Mecanum Holonomic Drive Setup

[Arkamond]

My team, 3102, has decided to try out Mecanum wheels in a Holonomic setup and is requesting help from anybody who knows how to set the physical structure up properly.

In this setup, we wish to use two joysticks, one for moving around the field, the other for turning the robot as a lot of teams who use mecanum wheels and Gamepad controllers use.

The only issue is that in order to implement this or any 'good' mecanum wheel function I've seen, is that servo's are required to monitor the angle of the wheels and 4 gear boxes are needed for 4 tires.

But the only issue is, how does one go about this? Where is the servo mounted? What servo to use? And is there anything more that should be used along with it?

I've tried to find better documentation of this, but generally it's just referenced that servo's and this or that is needed, not how and where to physically put it.

Thanks!