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Originally Posted by Otaku
The optimal omniwheel/traction wheel combination is omnis at the corners, tractions in the center. Rocker chassis or not, it offers the turning radius of omnis, with the traction of, well, tractions.
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It depends on what you want the robot to do. In typical game competitions, the robots play offense and defense, and a robot that resists being turned (and also has to work a bit to be able to turn itself) seems to do pretty well at being able to score while being "pestered". Omnis make your robot easier to be turned around by other robots. There's always a trade-off!
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I say if you're going to try to make an interesting drive system, go with mecanum. I think that a bot that moves in all directions is pretty cool.
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I agree...my sons made some mecanum wheels for VEX, it's fun to drive that one around!
As for Dave and the stairs, just ignore him like the rest of the FRC GDC does... ;) - Rich Kressly [more] 
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