Weapons look slightly AGOD'd; is that true? Can really ruin the wedge if that's the case. Have you tested the wedge?
2 blackvolts are not enough for a popup. For some reason the more 'excess' battery you have the more powerful your DDTs are (up to a cap). 3 is usual, 4 is as high as anyone ever goes.
Turn razors so the flat face is what hits the other robot
Instead of trying to use a setup with a tolerable turn radius, you could just try only wiring 2 or 4 motors for turning