VRC Mecanum Drivebase

While this robot is made of VEX parts, the theory behind how an FRC Mecanum drivebase would function is the exact same. By using the correct type of Mecanum wheels in each corner of the drivebase and spinning each wheel in the correct direction, lateral movement can be achieved. Even diagonal movement can be achieved as shown in the video. 

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.