Using Omni Wheels to Produce Holonomic Movement

In general, vehicles can move in two ways, along the forward-backward axis (x-axis) and by rotation, but they cannot usually move along the left-right axis (y-axis). However, it is possible to use omni wheels to create motion along both the x-axis and the y-axis, as well as at any angle. Omni wheels must be placed at angles to each other to control movement in multiple directions. The angles at which omni wheels are placed determines how quickly a vehicle can move in each direction. 5MSF