A holonomic drive train has 4 wheels in the corners. Each wheel is at a 45 degree angle. This allows the drive train to drive in any direction and at curves. All the wheels have to be driven independently for it to work correctly.

Pros:

  • Agile
    • It can move in any direction
    • It helps with lining up

Cons:

  • No pushing force
    • The wheels do not have traction so they slide in every direction
    • You will be less likely to get picked at worlds
  • Challenging to program and drive
    • Does not necessarily drive straight
    • The controls are different then tank drive driving
    • It requires learning to drive
  • Extra gearboxes needed
    • Each wheel is a separate gearbox
    • There is not much space around the wheel to make a complicated gearbox
    • Limits to the speeds you can use