We made an octocanum drive train this off season.
Each module contains 1 CIM and 1 mini CIM. The traction wheel is a 4 in by 2 in wide vex traction wheel geared 11:1. The mecanum wheel is a 6 in vex and is geared 7:1. Both axles are live, the mecanum is directly driven and the traction wheel is driven by a belt with a 1.57:1 reduction. Each module weighs aprox. 10lbs. and can be swapped by removing only 5 bolts.
We had it driving this last weekend at Bunny Bots but I unfortunately didn't get any good video. I will try to get some from a team member and post it here later.
https://drive.google.com/file/d/0B6o...it?usp=sharing
https://drive.google.com/file/d/0B6o...it?usp=sharing
https://drive.google.com/file/d/0B6o...it?usp=sharing
Thanks for looking. We would appreciate any feedback.
Maybe FIRST could get a sponsorship from Ikea, and we all could get flat-packed field parts with pictoral assembly instructions. And then all the parts could have funny names. - sanddrag [more] 
Threaded Mode