I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 wheels in line, back 2 wheels in line, left 2 wheels in line, and right 2 wheels in line.
My question is would it be possible to strafe (move horizontally) while rotating? Is this feasible with mecanum wheels? If so, what would be the required relative speeds of each wheel?
Any help is appreciated, thanks!