I might have left a wrong impression. The lynxmotion chassis definitely turns and spin turns fine on carpet. At full throttle it has so much power it will damage furniture or push a ten pound chair across a kitchen floor. I set it to a light throttle setting on autonomous because I don't want it bashing into objects hard, or burning out a motor if it gets snagged on a table leg that falls between two sensors. That might or might not explain why it losses traction when two diagonal wheels are off the ground. It might not be delivering any power to the wheels on the ground if it's in a turn mode, or insufficient power to jump over the obstacle. Losing half your traction and half the drive torque from two wheels off the ground is not a good thing.