How do mecanum wheels work?

Mecanum wheels are just like normal wheels but have rollers around them at 45 degree angles. These rollers allow the robot to move in any direction depending on the speed and direction that each of the four wheels is spinning.

Mecanum wheels are very popular at FIRST because they are very maneuverable and are simple to drive. For examples of mecanum wheels, click here.

These wheels are similar to normal, "static" wheels but have rollers attached on the outside. These rollers spin independently of the wheel and interdependently of each other. The axle of the rollers are attached at a 45 degree angle from the axle of the wheel.

On the left wheels this rotation is clockwise and on the right it is counter clockwise. With this configuration, when the left wheels turn forward powered by a motor the direction of force is half forward and half to the right, or North-East if you will. The wheels on the right produce a force half forward and half to the left, or North West. When they are spun with the same amount of force, the direction equals to be forward (the forces of left and right equal each other out).

However, when you want to go to the right, you make the left wheels go forward (forces or forward and right) and the right wheels go backward (inverse of before, so now backwards and right). This time, the forward and backwards forces equal each other out and the robot goes to the right.

Please don't edit, I will finish later