[sanddrag]

A picture of the robot would do wonders in helping us diagnose the problem. I can think of a few things off the top of my head. It is possible that if you are using two motors per side that one of them is not running or perhaps even running in the wrong direction (fighting). Take the breakers out and try them one at a time to make sure all the motors are spinning and in the direction you want them too. Make sure the program is giving full pwm value to the speed cotnrols when the joysticks are full travel. It is even possible that the Victors are way out of calibration, try calibrating them. Also, make sure you are using the correct amperage breakers for your motors (40 amp for Chiaphuas) Last, this may be obvious but make sure the battery is charged.

Some of the more likely problems are physical. What kind of tires are you using? If you are using pneumatic (air filled) tires or other high traction material and/or the robot is longer than it is wide, you may have difficulty turning. Also, make sur the robot is geared down enough. It is possible you don't have enough torque to overcome the friction in turning.

You can try putting duct tape (not legal for FRC btw) on one set of wheels (either front or back) or something like pool hose to make it turn better. (with ductape it will turn like a dream but it may lack traction and it is not legal) Or you can put a caser wheel lowered by a pneumatic cylinder or something like that or use omniwheels.