driving 3 omni wheels robot

Other Hardware Robotics
1

i need a code for driving a robot with 3 omni wheels .
the code is expected to receive the desired motion direction and sends the appropriate output to the three motors

Can any one help?

2

the code is expected to receive the desired motion direction

Really? Using ESP?

and sends the appropriate output to the three motors

What would the appropriate output be?

3

the desired motion direction is received from another part of the program for instance from a compass sensor
I don't understand what ESP stands for

the output to the motors is the PWM signal that determines the motor speed.

4

Here's an example/tutorial - not for the Arduino though:

Here's a paper detailing "holonomic control" (warning: heavy math included!):

http://www.mindraces.org/public_references/idsia_publications/omnidrive_kiart_preprint.pdf

Here's the grand-daddy of them all (Palm Pilot Robot Kit):

That should be enough to get you started - heck, that's enough information to complete such a project, if you are inclined to roll up your sleeves and aren't looking for someone to hold your hand through every step...