The higher frequency didn't help at all. It seems to turn suddenly sometimes and I really thing that is related to the increase in resistance to hand-turning the wheels sometimes. You can rotate the wheels easy for a bit, but then it will suddenly get hard. It doesn't do it as much if you rotate the wheels fast, but it sure is noticeable rotating them slow.
I can't be sure that is the problem though. I guess maybe I should wait to get Mike's encoder kits so I can confirm that the speed of the bot is not changing in phase with the speed of the of the PWM. In the mean time I'll investigate mounting wheels to other motors. Maybe the nice ones Tom gave me.
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