When you are on a hill does the vehicle slip or stall? If it stalls it
doesn't have enough torque, but if it slips, it needs more traction.
It sounds like you have all four wheels powered through gears and
chains, so maybe you are getting the most traction that you can from
the grip of the wheels to the ground at the weight that you have.

Wheeled vehicles tend to be a lot lighter than tanks. (I have two,
both weighing around 15-18 kg.) That results in rather low traction
because of low ground pressure. You could improve traction by
increasing weight, say with bigger batteries, to increase the pressure
of the wheels to the ground, or you could improve the grip of the
tires.



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