Ok, see the second option I gave. 
Also, I will add that an X-drive or mecanum drive can prevent you from being pushed from the side by strafing in the opposite direction, so those are good options too.
Ok, see the second option I gave.
Also, I will add that an X-drive or mecanum drive can prevent you from being pushed from the side by strafing in the opposite direction, so those are good options too.