Team 5550 - Fall Project

[Lil' Lavery]

Originally Posted by nickbrickmaster

Holonomic (4-omni) drivetrains are generally bad because there are better, more efficient, or higher traction options. Mecanum in particular is better than a 4-omni holonomic drive, with the same general setup. It's a bit more expensive, but more efficient (If anyone knows the exact theoretical numbers, please let me know.)

So yeah, in a competition (and you reaally wanted to use omnidrive), I would look into using Mecanum instead of this setup.

I challenge you to show me the math (or at least the reasoning) to why you believe Mecanum drives to be more efficient than Omni drives.

Hint: Consider both drives moving not only in "straight" directions, but also diagonals.

As for traction, Vex quotes a CoF of 1.0 for their Mecanum wheels and a CoF of 1.1 for their Omni wheels.