[Not2B]

I'm guessing it's a bit late to go to a wider frame or change the drive around.

And if you don't have the money or machine tools to get omni wheels (which are a great idea at this point for ya), then you can do the cheap fix.

Wrap the wheels on the light side of the robot in something slippery - we use rip-stop nylon zip tied onto the wheel. Heck, last year we PLANNED on using replaceable rip-stop nylon wheel covers. They worked well, and cost about $2.

Omni wheels are, of course, better if you can afford them.