[Al Skierkiewicz]

Doug,
Whenever you are blowing fuses in turns and not when running straight it is due to high friction in your drive system to the carpet. This is almost always the case with tank treads and to a lesser extent with tank style four-wheel drive. The turning friction is exteremly high as the robot is trying to drag the treads sideways. The only way to fix this is to reduce side friction or reduce current in turns. (i.e. lower speed, slower turns, larger turning radius, etc.) It should be an easy fix in software to slow the drive when it senses a turn without shifting gears. Hope this helps.
Good Luck