[JesseK]

I would increase the ratio of your strafing wheel to give it more torque. It's a single CIM moving around 150lbs at a single point - the 81% rule of thumb kind of falls apart at that power:weight ratio. Look up Ether's spreadsheets/calculators on CD-Media whitepapers to figure out the gear ratio. You'll want to evaluate whether it's faster to turn 90 degrees them move straight versus attempt to strafe. For longer distances - definitely turn and go forward. For shorter distances ('juke' moves, or alignment maneuvers) of around 1-2 robot widths, there's no need to gear that for speed. The good news is that it's an easy gear ratio change to the internal components of the strafing gearbox.