[Tom Line]

Be careful. There is a point at which the robot becomes much too easy to turn, and you will start having issues with the simple things like driving straight or driving while being defended.

Also, make sure you experiment ahead of time. All 6" wheels are not exactly 6", and all 4" wheels are not exactly 4": they sit on the ground differently. We found this when we didn't pay attention to the 4" plaction and the 4" omnis from Andy Mark.