The changes were of two types.

1. Instead of "braking" by turning off the DC voltage to the wheels (thereby relying on reverse polarity created by the rolling momentum of the wheels in the DC motor) I now use the DPDT relays to reverse the polarity for a few hundred milliseconds.

2. I put some PAUSE commands in to make sure wheel and steering related commands had time to actually do what I had expected.

Thanks...

Ken