[Al Skierkiewicz]

You didn't give a detail on your design, so I am guessing you have a four 9" wheel design. If that is the case, when turning with a tank drive, the only way to turn is to loose side traction on the drive wheels. With high traction wheels, the only way to loose traction is to come off the carpet, in your case dance. If you haven't checked motor current yet, I will predict it is extremely high during turns and is likely tripping circuit breakers which in turn adds to the dance.