[KrazyCarl92]

Solution: whenever you usethe turn command on the controller, first turn the wheels so that they are in a wide wheel base configuration rather than narrow. Then power the proper wheels in the proper direction and watch the robot turn very easily. There is almost no four wheel crab drive configuration allowed by the dimensions in the rules that would not allow a robot to turn unless your wheels just have a ridiculous amount of traction that causes ridiculous amounts of scrubbing.