Holonomic platform on four mecanum wheels. Please read the attached .m file for more details. There is a story behind this build. Julia (8.5 yrs) saw a mecanum wheel on my desk. She inspected it thoroughly. Then, she tested it on a plain surface. And after a minute or so she concluded: Dad, are you kidding me?! Such wheels cannot be used in a vehicle. You've wasted our money on them!
I had no choice other than to prove her wrong -- at least in that that it's possible to drive on such wheels :)
Have fun with holonomic robotics!
Bartlomiej Ufnalski (2020). LEGO Mindstorms EV3 MecanumBot using Simulink (https://www.mathworks.com/matlabcentral/fileexchange/71624-lego-mindstorms-ev3-mecanumbot-using-simulink), MATLAB Central File Exchange. Retrieved .