HELP!

[bobdahaxor]

So today we completed our first regional at chesapeake. WE have had some issues with our drive train and I was wondering if anyone can provide a diagnosis solution or share if they have a similar problem. Our drive train consists of two banebot transmissions 12:1 reduction which are in the front which are the sources of power. They have traction wheels but we flipped the tread upside down. In the back we have two omni wheels. so 4 wheels front wheel power / drive. We are having issues turning, but none straight! Originally at the play date we had no issues. Then we get to chesapeake (with the traction side down) and it would not turn. We flip the wheels over and it kinda turns now, but the front moves as well as the back plus we slip a lot. When the traction was on the wheels, we could turn while moving. (sounds like not enough torque to me). We have no electrical issues, we replaced the battery and joystick. In addition, we replaced the entire transmissions (easy to take off) and we cannot find a feasible solution except decrease the speed. We are going to do that but I have some doubts that it will work. We can get at 117 (we are at 119.5 now) so what is proposed (if a solution is proposed) needs to be light weight! Any help / knowledge is appreciated! Thanks!

Pic:
http://uploads.dulaneyrobotics.com/2...w/DSC02433.JPG

http://uploads.dulaneyrobotics.com/2...w/DSC00668.JPG