[billbo911]

Originally Posted by JesseK

This doesn't make any sense. One mentor makes a conclusion about turning based upon a tool that doesn't tell him anything about how/why a robot turns, then another veteran mentor backs him up? What is this, the Apple forums?

Jesse,
Instead of being offended by your tone, I think I'll build on your point.

Jesse's post will lead you to determining the root cause of the problem. It will teach you how to analyze a drivetrain and design it better in the future. That said, the solution it would lead you to at this point in the season would be impracticable to implement. It is correct, but not necessarily an optimal solution for your current situation.
You really should learn to use the analyses tools he is giving for future designs.

In the mean time, what I gave you will get you going in the shortest amount of time and least amount effort, something that is needed with the amount of time you have left. And, if you apply the information I gave you to Jesse's approach, you will see that it works, too. Please give it a try once you get the drive working to your satisfaction.