Quantity   Component name
1 × Arduino Mega2560
2 × Pololu Dual VNH5019 Motor Driver Shield for Arduino https://www.pololu.com/product/2507
4 × Omniwheel with mounting hub https://www.aliexpress.com/item/60mm-Double-Aluminum-Omni-Wheel-14145/32778911737.html , https://www.aliexpress.com/store/product/4mm-Aluminum-mounting-Hub-for-60mm-omni-wheel-18018/1455619_1926609721.html
1 × Ordinary 3D printer
1 × Inertial measurement unit Pololu MinIMU-9 v5, GY-85, MPU6050, MPU9150, or MPU9250
4 × 99:1 Metal Gearmotor 25Dx54L mm HP 12V with 48 CPR Encoder https://www.pololu.com/product/3219
1 × LiPo battery I used https://hobbyking.com/en_us/zippy-compact-5800mah-3s-25c-lipo-pack.html but any 3S LiPo will do
1 × (Optional) XT60 connector male x 1 + female x 1
1 × 5x7cm perfboard https://www.aliexpress.com/item/Double-Side-5x7-cm-Prototype-Universal-FR-4-Glass-Fiber-PCB-Board/32799738314.html
4 × JST XH2.54 connector male x 4 + female x 4. https://www.aliexpress.com/item/20-kits-XH-2-54mm-2-3-4-5-6-7-8-9-10-12pin-JST/32855763468.html
4 × HT5.08 2 pole screw terminal block connectors 4 pairs. https://www.aliexpress.com/item/YongYeTai-HT5-08-Pluggable-Terminal-Block-5-08MM-Connector-Set-Plug-Socket-2-3-4-5/32863550645.html
1 × Base cut out of aluminum sheet