[EricH]

The competition field is going to be pretty much what you tested on.

As for traction, try this classic trick:

1) Get lots of zip ties.
2) Place the zip ties on the rims of the wheels on one end of the robot.
3) Replace any zip ties that come off.

You could also:
--Add a dropped center wheel (if you're using the KOP frame, the center hole on the side rails is dropped down slightly already).
--Change one end for omni wheels (more expensive, and you'd have to wait for them to arrive).
--Add a CIM to each side and make sure all your wheels are powered.