Holonomic robots using Mindstorms
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/



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.