https://picasaweb.google.com/lh/photo/GY1FUQhwSOfZ-h27VX398Qx3Q4trMxrOrxTYN8o46xQ?feat=directlink
 
There is a link to my current set up.  I have a 100rpm gear motor directly 
driving a hub with a 4" foam rubber wheel that rides on the inside of the 
turret ring.
 
I'm using a scorpion mini v2 controller.  Link below.
 
http://www.robotmarketplace.com/products/0-SCORP-MINI2.html
 
I find that writing down my thoughts on this board help me sort things out.  

 
My current thoughts:  For speed, i have two choices, gear it up, or find a 
faster motor.  I'm also thinking that if i add multiple motors, i can run 
multiple setups from a motor controller.  This would give me multiple drive 
points, more like 4 fingers of grip rather than 1.  This could help in two 
ways:  When starting, i would get less slippage and faster response, when 
stopped i would have the four motors and wheels providing resistance to the 
turrets motion.  
 
Sorry with the limited details on my first message, fustration had set in 
for a moment.  :)
 
 

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