Originally Posted by jacob_dilles

we have the banner sensors hooked up so that every time the drill motor turns 1 revolution it clicks twice. both wheels have one. that way we can not only accuratly turn, but also compensate for errors in slipage as we know how many clicks SHOULD be per x loops and how many ARE per x loops. it works very well and i wrote easy_left_turn(time), easy_right_turn(time), hard_left_turn(time), hard_right_turn(time), drive_slow(time), drive_fast(time) functions that all have automatic slipage comensation. if i can get the code on a floppy ill be glad to post it. so far its worked perfectly

Originally Posted by jacob_dilles

yeah like i (think i) said above, we used the banner sensors as shaft encoders and there smooth and awsome. now i just have to figure out how to hook them up to the inturpts....... .... ... oh boy