pic: Jester Drive:Mecanum Wheel Drive Train

[BrianBSL]

Originally Posted by Alex357

Controlling an omni wheel is much different than controlling a mecanum wheel. Since the rollers are perpendicular on omni-wheels, the direction produced has almost no similarities with controlling mecanum wheel motion, which depends on the rotation and speed of each individual wheel.

Omni wheels all 45 degrees apart from each other produce exactly the same effect the mecanum wheels do, and you can control the robot exactly the same way. This is how we prototyped the code for our field relative drive and found that we needed to have the split in the chassis to have equal wheel pressure.