Uh Oh. Advised remove brakes had Accident

ax2550HE: Advised to remove brakes and now my lawnbot ran into my chainlink fence. Oh well, no damage. Can anyone instruct me how I might reconfigure my controller to ensure better control? Any tips would be appreciated. Thank you in advanced.

Main problem is that when I would attempt a slight turn of 15 degrees it frequently will turn 45 degrees or more. I can't help feeling that brakes would help in this situation as I am able to see the bot accelerate into the turn(rubberbanding?) and if I had brakes I could instantly stop the turn and the brake would prevent a turn of coasting. Does that make sense.
I am using "A and B speed mixed" "Watch Dog" Acceleration set at lowest "2048" (slider all the way to the left) Open loop, amps limited to 70 amps. Also I am using a joystick on one computer and host computer by roboserver running on a computer mounted to the top of my lawnmower.

Survey?
A. Put brakes back on, somehow controlled by the roboteq
B. Install an encoder on the wheels.
C.analog tachometers
D. digital optical encoders
E. give it up dude use RC, delay overhead is way too much with VNC or wifi.

The controller will normally cause the motors to "brake" as you throtlle down.

The slow acceleration is probably what give it the sluggish feel. Make the acceleration quicker ~200ms should be fine.

Ok, I'll try that. One thing I forgot to mention is that some of my lawn terrain has inclines of 10 degrees or more. The hardest manuver so far is, travelling in a straight line. Before the wheelchair was cut up and welded into a lawnbot, it handled the inclines in my yard adequately.

I tried 200, still difficult to control. The motors came off an Invacare wheelchair and were always run at 24 volt. Is it likley to cause damage if I run them at 12 volt. That might be a good option right? The thing is just going to fast and I want control not speed. I've been trying in today in my front yard which is nice and flat. It is very difficult to make it go straight. In fact it is easier to do so in reverse. Would limiting the amount of amps help?