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  1. "Turning scrub" refers to the friction that resists turning on a robot's drivetrain. This occurs from the wheels experiencing drag laterally as the robot completes its turn. 
    1. Turning scrub can be reduced by reducing the length of the drivetrain/chassis, With more length, more sideways movement is required to turn, thus increasing scrub.
    2. Picture
  2. Wheel traction to the ground
    1. Grip (contact & torque)
    2. Not spinning out or stalled


WIP

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