The omniwheel is capable of going in any direction you want, it can also rotate on the spot.  So I thought, why not combine the two and make it rotate and move?  After picking Brian Davis’ sizable brain about using a gyro as a means to calculate a heading, I tweaked my old program and came up with this.

There are some issues with slippage but, more importantly, gyro drift.  The program is very simple, so no special code was added to compensate for that.  Perhaps the next version will.