A picture is worth a thousand words and the video is well worth the lengthy download (~100MB), so check them out
here. We have a second video showing our ball collection method, but I've run out of space on this server. I plan to DivX both videos in the next couple of days as to reduce the videos to a reasonable size.
I will try to explain the basics drivetrain here before anyone needs to ask. It is an omnidirectional holonomic platform. In English, it can drive in any direction (x, y translation) WHILE rotating on its axis, giving it three complete degrees of freedom. By using absolutely hideous equations (especially when dealing with PBASIC), you can drive each of the three drill motor (thank you FIRST for giving us three this year, it couldn't have worked out more perfectly) powered omni-casters, located 120 degrees apart, so that you go in the desired direction/rotation. For example, to drive forward at full speed, you drive the left and right motors at nearly full speed while the front wheel stays stationary, rolling sideways on the omni-caster.
Adam Krajewski on behalf of MI Roboworks, team 221 and Superior Roboworks, team 857
Try to remember, FIRST is like life, it is about the journey not the destination. - rees2001 [more] 
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