- "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.
- 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.
- Wheel traction to the ground
- Grip (contact & torque)
- Not spinning out or stalled
WIP