[Kevin Sevcik]

Are you sure all your jags are working and working in the right directions? Easy way to check is to rraise the robot off the ground and have just one jag plugged in at a time and run the robot foward backward, left and right. Make sure they're all going in the directions they should. You might have something wired backwards or a half dead jaguar.

Second, what's your weight distribution? Are you putting more weight on the sticky wheels or the sliick wheels? If you're putting most of your weight on the slick wheels, that would also explain this.