Need Help with High performance line follower

So I have been building line follower robots for quite a while but they were all built with lower speed motors like 150-200rpm micro grear motor, cny70 or tcrt5000 reflectance sensor, tb6612fng motor driver and Arduino(Atmega328p).
I always thought that the reason I couldn’t go with faster motor was due to the processing time of the chip and my program loop time.
But even after using high speed micro controller(teensy 4.0) and optimising the loop time to nearly 1us. The robot looses control at higher speed.
This made me wonder that what am I really doing wrong!!!
The one big difference that my robot has from other high performance robots I have seen online is type of wheels and weight.
The other robots use a smaller diameter and wide base wheels and the robot looks very light. While my robot on the other hand has a fairly large wheel ( 7cm diameter) and heavier body.
Which makes sense because more mass means more inertia which makes it harder to turn and change direction quickly.
If I consider a robot of max speed 5m/s. It would take 2ms to cross 1cm wide line. If I make my processing time 100 times faster it would be 20us.
Will it make any difference if I make it more faster or is it not going to make a much difference?
And how much does the mass and type of wheels matter?
Anyone who has experience can help me out here?

submitted by /u/MBR105
[link] [comments]