Mecanum

We've built a number of Vex based robots that use the omni-wheels in cross setup. Since they are not true Mecanum setups, they vary from the predicted efficiency:

1. Less grip due to the 90% angle of the rollers
2. Not a true "right and left" wheel to help amplify the forces

Testing did show that the wheels performed better when they were equidistant. Long or wide bases did not have the maneuver skills of a square.

In a two night effort a tri-wheel, triangle based drive train was build. With the wheels at a 30 degree angle to each other, the rollers we able to get some additional traction. There are two things that should be improved if we try this again:

1. A better, more rigid frame. The three wheel setup puts a lot of strain on the frame. Building out of a heavier material would help.
2. The control system needs some work to move more power to the motors. The original holometric code was revamped, and it inserted some imbalance into the movement.

(This page needs additional work)