[Jnadke]

If it's only tripping when you are turning, then you have too much traction. When you turn, your wheels have to slide accross the carpet. You might want to either:

1) Lower the amount of traction your bot has. This can be as simple as flipping the robot over, and going over the wheels with a file.

2) Incorporate some type of caster that you can lower to the ground for the purpose of turning. We did this last year with pneumatics.


If it's tripping when you're moving forward/backward, then you don't have enough torque. Either use smaller diameter wheels or re-gear the robot (gear it down some more). Often times wheel size isn't taken into account when calculating drive train ratios. Your wheels are just like a large lever, the larger they are, the easier it is to push against you (forces are amplified).