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same thing happened to us. on tile floor, our robot worked perfectly. on two layers of carpet (SBPLI) it didn't work until we did some boarderline legal stuff (it was technically legal, as long as we kept our wheels from spinning and tearing carpet). after the season, we took the modifications off, and tried it on asphalt. it shuddered a bit when we turned, but overall worked much better on asphalt than carpet.
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