[Rick TYler]

OK, I've thought some more and looked at your pictures. Some random thoughts:

1. Did you ever test on the same kind of carpet used at the tournaments? It might be just enough to either allow the traction wheels to slip, or the omnis to have trouble turning.

2. Is something gumming up your omnis? Are the rollers spinning freely? Did carpet fiber bind up the rollers?

3. Do you have a software problem? Are you maybe not delivering full power?

4. Has your robot gained weight since you last tested it on carpet? Greater weight could make the motors not capable of providing the turning force you need.

5. Is your problem that you can't turn reliably? I want to make sure we are trying to solve the right problem.

6. Any issues with your Victors? I've only known them to work or not work, but I guess they might be sort of not working.

7. It looks like you use bushings to center your omnis on their shafts. Are these binding on the wheels?

Can't think of anything else right now...