omni drive transmissions

[FourPenguins]

Higher torque=faster acceleration, more power at low speeds, easier turning(this last point is less of a concern with omnis)
Higher speed=higher top speed
Since most FIRST bots don't have much room to move or much time to accelerate, a top speed over about 11ft/sec is usually excessive.
Wheel slipping has to do with how "sticky" your wheels are. If you have more torque than your wheels' "stickiness" can transfer to the floor, and then your wheels will slip. Though lower torque reduces the risk of slipping, it also reduces maneuverability, pushing power, etc. I don't know much about the AM omni wheels, but an omni wheel should be designed to be very "sticky". (Regular wheels must slide sideways to turn, omnis don't.) Perhaps someone could enlighten us as to the sliding characteristics of the AM omni wheels.