This is a four wheel Mecanum drive robot with a 2DOF gimbal and a fly wheel projectile launching system. The Github link to the open source code is right below.

Purdue Spark Challenge Introduction Video – Full Demonstration

Chassis Follows Gimbal Function

Moving During Chassis Spintop While Gimbal Stays in Position

Game vs. Virginia Tech – Flanking 

Game vs. Virginia Tech – Finishing Off Sentry Robot