When a micromouse corners faster, sooner or later, it will run out of grip. That doesn’t mean it can not perform a useful turn but it will drift instead of neatly following a tangential path around the turn. To find out where the limits might be for Decimus 2B, it was set to do a constant radius turn at increasing speed.
The video shows that, for turning accelerations up to about 7500 mm/s/s, D2B can track the turn fairly well. Beyond that, there will be some drift. At higher accelerations, it can do some nice drifting turns – still with a fair degree of control thanks to the gyro.
Here the mouse wanders down and to the right because my test maze is not perfectly horizontal.
Other tests at different turn radii give much the same result. The limit of grip is at about 0.8g for D2B.