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As stated a few times, but is worth stating again, turning at a decent speed while holding the goal (and while having decent traction against being pushed sidways) is the real design challenge.
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You need to think outside the box.
Turning if done right is very very easy. we can turn now with all three goal.
the fun part will be pulling other robots and still pull all three goals.
Watch the KSC in March 7-9