Answers.Body: <p>Here is an article that may be useful:</p>
  
  <p><a href="http://botbench.com/blog/2014/05/11/omniwheel-article-in-dt-practice/" rel="nofollow">http://botbench.com/blog/2014/05/11/omniwheel-article-in-dt-practice/</a></p>
  
Answers.ContentLicense: CC BY-SA 3.0
Answers.CreationDate: 2014-05-17T17:00:36.330Z
Answers.LastActivityDate: 2014-05-17T17:00:36.330Z
Answers.UserDisplayName: David Lechner
Answers.Body: <p>I got also the wheels and found it really interesting... so I wrote an article were I explain all the maths and show you how to build one yourself ( instruction attached ) <a href="http://thetechnicgear.com/2014/04/howto-build-3-wheels-holonomic-robot-using-lego/" rel="nofollow noreferrer">http://thetechnicgear.com/2014/04/howto-build-3-wheels-holonomic-robot-using-lego/</a></p>
  
  <p><img src="https://i.sstatic.net/tqILm.jpg" alt="enter image description here"></p>
  
  <p>The code is for EV3 software and I will surely rewrite it for leJOS ( despite there is a class that already does the work ) on the following weeks.</p>
  
Answers.ContentLicense: CC BY-SA 3.0
Answers.CreationDate: 2014-06-02T18:25:12.807Z
Answers.LastActivityDate: 2014-06-02T18:25:12.807Z
Answers.UserDisplayName: Miguel
Answers.Body: <p>There is an <a href="http://www.hitechnic.com/models" rel="nofollow">excellent model at Hitechnic</a>, complete with building instructions and example programs. It's for NXT, but shouldn't be very hard to adapt to EV3.</p>
  
Answers.ContentLicense: CC BY-SA 3.0
Answers.CreationDate: 2014-05-14T06:47:03.373Z
Answers.LastActivityDate: 2014-05-14T06:47:03.373Z
Answers.UserDisplayName: Philo
Body: <p>I just got some Rotacaster wheels and want to try building a 3 wheeled Mindstorms omnibot (holonomic robot) and I'm looking for a practical (easy) discussion about writing a driving program.  I've found some theoretical papers but need something a little easier to implement.  Has anyone here built one and what advice can you give?</p>
  
Tags: <mindstorms><programming>
Title: Holonomic robots using Mindstorms
UserDisplayName: CritChamp
ThreadText: # Holonomic robots using Mindstorms
  
  (Asked by: username_0 on 2014-05-13)
  
  I just got some Rotacaster wheels and want to try building a 3 wheeled Mindstorms omnibot (holonomic robot) and I'm looking for a practical (easy) discussion about writing a driving program. I've found some theoretical papers but need something a little easier to implement. Has anyone here built one and what advice can you give?
  
  **Tags:** mindstorms, programming
  
  ---
  
  ## 3 answers
  
  ### Answer by username_1 on 2014-05-17. Score: 2 | Accepted answer
  
  Here is an article that may be useful:
  
  <http://botbench.com/blog/2014/05/11/omniwheel-article-in-dt-practice/>
  
  
  ---
  
  ### Answer by username_2 on 2014-06-02. Score: 3
  
  I got also the wheels and found it really interesting... so I wrote an article were I explain all the maths and show you how to build one yourself ( instruction attached ) <http://thetechnicgear.com/2014/04/howto-build-3-wheels-holonomic-robot-using-lego/>
  
  ![enter image description here](https://i.sstatic.net/tqILm.jpg)
  
  The code is for EV3 software and I will surely rewrite it for leJOS ( despite there is a class that already does the work ) on the following weeks.
  
  
  ---
  
  ### Answer by username_3 on 2014-05-14. Score: 2
  
  There is an [excellent model at Hitechnic](http://www.hitechnic.com/models), complete with building instructions and example programs. It's for NXT, but shouldn't be very hard to adapt to EV3.
  
  
  ---
  
  