Quote:
Originally Posted by EricH
Mecanums work in either the X configuration or the O configuration....Their current configuration is an X pattern on the ground. This provides slightly easier turning. An O pattern would be just as valid, but is slightly (just slightly) worse at turning due to roller angles.
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A true X configuration would have the wheels in a perfect square with the mecanum rollers all pointing to the same point in the center of the robot. Such a configuration cannot reliably turn in place under its own power, and cannot prevent itself from being spun due to external forces. With the wheels in a longer (or wider) rectangle, this problem is less pronounced, but it still exists.
An O configuration is noticeably superior in turning performance, with both forward and sideways performance remaining the same.
It's not GP, its not un-GP, its just a strategy. - AndyB [more] 
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