my guess though is that the way you built it made it so the wheels were not the same distance apart. it’s a common error and is best rectified with custom lexan gussets or drilling holes (the reason for this is vex holes dont line up properly at 45° angles, even with the vex 45° gusset)
For which video?
I the one where it is moving on it’s own, I have no idea how it is moving. The one where I am controlling it, i just have strafing on Axis 1, forward and back on Axis 2, and turning on Axis 4. I hope that’s what you needed
main issue- in the first vid your wheels are cantilevered. this causes monstrous frictional losses and is probably why it was going as slow as it was. in the second vid, your wheels supports were at different angles so there was friction added there as well. these two issues were why in both cases, the bot couldn’t drive straight- each wheel had different power losses than the next because of how much friction there was
main thing, add a channel on the other side of the wheel and make sure you have bearings there too. after that, fix the shaft collar that’s next to the motor- it’s way too close to the channel ( and even if it isn’t too close, you need to add a teflon washer between the shaft collar and the channel. never ever ever let metal rub on metal- that’s how you get massive friction losses)
the reason for all of this is because the shaft is bending (or going to bend) because you only have the wheel supported on one side. cantilevered wheels don’t work well in vex