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Our team (159) had this problem last year with the pneumatic wheels. The problem was not easily solved. First, we went to the judges and asked if we could use duct tape as a "Traction reduction device" rather than as a fastener, and they actually allowed us to. Then, we replaced the two front wheels with non-pneumatics, so they could slip. The problem is simply that pneumatic wheels have too much traction on carpet for tank drive to work well. We actually managed to trip our breakers with the drill motors on a regular basis trying to turn in place. Good luck solving this problem!
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"What most people do not understand is that the Buddha, the Godhead, resides just as comfortably in gears and circuits as in hills and trees. To believe otherwise is to dilute the Godhead."
-Robert Pirsig, Zen and the Art of Motorcycle Maintenance
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I'm looking forward to January when things will slow down some! - Foster [more] 
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