Killough platform and differential pilot

[Aswin]

Hi,

I have a robot with holonomic wheels on the three angles of it's triangular shape. I want to let this robot drive freely. See my robot in action to get the idea. Now I want to do this in lejos. I figured out that there is a DifferentialPilot class. Is this a good candidate to replace? If I implement all the interfaces Will I get the odometry and navigation for free? I have heading info as well, although not Directly from a compass but from a filter.

Edit: to get more traffic and, hopefully, some advise I changed the title.