pic: drivetrain idea (comments please)

[sdcantrell56]

Another thing about 25 is that there wheels have a much lower Cof than wheels treaded with conveyor belting and they have custom patterns cut into them which most likely aids in the turning. I would say it is a safe bet to lower the center wheel unless you have a backup plan for when your robot doesn't turn. Additionally even if it does manage to turn the bucking mentioned is enough of a deterent to want to drop the center wheel. Imagine precisely aiming while the robot is bucking...not something I would want to deal with.

And as for the being easily spun with a lowered center wheel, as long as the drop is not substantial, you will not be easily turned by another robot and you will still be able to turn when you want to and push other robots.