[JesseK]

Additionally, if the drive wheel base & wheel friction aren't designed properly, the drive train will have a very hard time turning at 25% power output. I'd recommend a slightly more advanced program that allows a bit more power output so long as sensor feedback doesn't exceed the desired straight-line speed (as Ether is eluding to). Another way to solve it would be to change the gearing on the sprockets to a much lower speed so you don't have to mess with the programming at all. If the robot will never see a competition field, parade, football game, or other long-distance movement ever again, I'd say that it's a safe move.

Or you could put the bumpers on and get into a more open area. You could also stipulate that intentional damage will result in immediate dismissal from the team ... that tactic works most of the time on our team.