[Donut]

We've done the simplest thing I think is possible. We used the 5" wheels but removed the tread from them so that we have much better turning with our 4 wheel drive system. Prior to removing them, the 4" with the tread caused so much friction when trying to turn on carpet that we broke the clutch (since they don't work properly and break at the max torque instead of slipping). Of course having an 11 lb. robot for those motors probably isn't too nice when you only have 1 motor on each side driving.