The problem with making a robot that is not made of solidly stated parts go in a rectangle is...well there are a few of them. One of the main ones is that the pieces aren't always perfectly centered where you want them to be. My one wheel continued to warp a bit each time. So that would be the main problem with it. The other one is that some mechanical problems cannot be fixed with timing changes completely. It's easy to set a new time and try that out, but it doesnt fix wheels or motor problems.
Jeremiah
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