Have you looked at the AM 4"
stealth wheel? It has lower traction than the hi-grip, and it has rounded edges. I think it might help with your turning problem.
Also, you really should look into the theory of how scrub-steer drivetrains turn. There is an excellent
paper on that in CD Media, put there by Chris Hibner more than ten years ago.
__________________
Richard Wallace
Mentor since 2011 for FRC 3620 Average Joes (St. Joseph, Michigan)
Mentor 2002-10 for FRC 931 Perpetual Chaos (St. Louis, Missouri)
since 2003
I believe in intuition and inspiration. Imagination is more important than knowledge. For knowledge is limited, whereas imagination embraces the entire world, stimulating progress, giving birth to evolution. It is, strictly speaking, a real factor in scientific research.
(Cosmic Religion : With Other Opinions and Aphorisms (1931) by Albert Einstein, p. 97)