outsmart the friction?!

[RufflesRidge]

Yes, dropping the center wheel on each side somewhere around 1/16 to 1/8 of an inch should make it much easier to turn.

Even if you could make the problem a little better programatically it is going to be very hard on your motors, speed controllers and batteries if you don't reduce the friction on one outside set of wheels or drop the center set.

[IndySam]

If you can't drop the center wheels you can purchase two omni wheels or use lower friction wheels on one end of the robot.

As much as I like to blame programming for everything, this isn't their fault

[Alan Anderson]

If you can't easily lower the center wheels, try adding thicker tread to them. That'll have a similar effect. The resulting very slight discrepancy in rim speed between the outside and center wheels shouldn't be a problem in practice.

[Racer26]

Yup, this is one case where programming can't solve a hardware problem.

The electromechanical system isn't operating in a manner capable of dealing with the frictional influence from the floor. That has to change.

[aya94]

Thank u guys!! U have been great help ,and yes as a programmer i couldn't think of anything to fix the matter ,now we know better ,we will try lowering the central wheels or perhaps change some of the outsider wheels ....