[Al Skierkiewicz]

Bear,
A good place to look for trouble is to watch the voltage monitor on the OI during turns. If this voltage is repeatedly falling below 8 volts while turning, your drive is sucking huge amounts of current. Since you have replaced four wheels with lexan, you should not be having turning issues but it is possible that the lexan is still digging in when turning. Double check everything looking for lose wires, unclaibrated speed controllers and defective motors. I had one team report that they had one CIM motor that had developed an extreme difference between forward and reverse speed. Although I didn't have a chance to closely examine the motor, I suspect that this motor was assembled without tightening the end cap screws. This allows the caps (and possibly the brush assembly) to move. Try moving the end cap with the wires and see if your motor caps rotate. They should not move. I don't have a motor in front of me, but I seem to remember an alignment mark at each end. Make sure they are aligned and the screws are tight.