Not all driving robots need four wheels, and this one has just two drive wheels plus a small pivoting castor wheel in the back for balance. Compared to a four-wheel drive skid-steer robot, a three-wheel robot like this steers much smoother and easier. This makes turns faster and more accurate (when measured in motor degrees) since there is much less wheel friction and slip.

In fact, this design steers so easily that it can be hard to drive it in a straight line, so the two programs below show some techniques to help with that.  These program also show how you can customize your own driving remote control instead of being limited to the options in the standard Driver Control menu.