FRC Mecanum Drivebase Design

This Mecanum Drivebase example is an adapted version of the Tank Drivebase from Team 4817's 2021 FRC Game Bot Design (Ref 1).  

A Mecanum Drivebase uses the unique structure of Mecanum Wheels to allow for the drivebase to be able to strafe from left and right, despite using only 4 motors. For an explanation on how this movement is achieved, refer to Reference 6. 

For a full overview of the macro design of WCD and other FRC drivebases, refer to Macro Design: Preparing for the Game Drop chapter 2.