Can okapi control a mecanum drive train?

I’m just starting to look into okapi. My team is wanting to use a mecanum drive this year. I was looking at the docs and couldn’t find any mentions of this use case is it possible?

Functionally aren’t x-drives the same as mecanum drives?

So the ChassisController with the X-Drive Chassis Model should work


They function the same but use different wheel to move various directions. And the x drive doesn’t spin well