P.I.D Location "Memory"
 

This year, we've got two orthogonal idler wheels with encoders, and we used them to help our robot know exactly where it needs to be. If we get thrown in a certain direction in autonomous, we should be able to get back on track automatically.

In this video, you can see Mr. Murphy, our programming mentor, pushing our practice robot from its starting position, and the robot finding its way back with no driver intervention.

http://instagram.com/p/zESiyzoyFS/?modal=true

Re: P.I.D Location "Memory"
 

How do you use 2 encoder signals (one from each idler wheel) to compute motion in each of the 3 degrees of freedom in the floor plane? Are you supplementing the computation with a gyro?