[bobdahaxor]

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.
We had no issues turning at the play date we attended! And with lots of grip on the traction wheels. Now traction seems to kill it!

2. Is something gumming up your omnis? Are the rollers spinning freely? Did carpet fiber bind up the rollers?
They seem to spin freely enough, I can move them with my hand, but they do do go into a free spin (like when you spin the wheel on a model car)

3. Do you have a software problem? Are you maybe not delivering full power?
We get the proper PWM values and we get about 20 amps under load

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.
Maybe 3 pounds?

5. Is your problem that you can't turn reliably? I want to make sure we are trying to solve the right problem.
Yes we turn, but it is soooo slow.

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.
The lights work and everything. PWM cables are good and as far as I know and the programmer gets responses from them

7. It looks like you use bushings to center your omnis on their shafts. Are these binding on the wheels?
They spin pretty freely I think...

I appreciate the help guys. I am a 3 year veteran and me along with my entire team cannot figure out why it stopped working. (we sorta developed a plan to fix it though!)