[Tom Line]

From that video it appears that you are using 4 traction wheels at the outside corner of the robot in a long configuration.

Is that the case?

If it is the case, you will absolutely not be able to physically turn when you drive that on a competition field with carpet. You need a center set of wheels lowered 1/8" from the outside wheels and powered to 'rocker' the robot and make it able to turn.