[Steve_Alaniz]

I assume you are talking about during autonomous ... Four encoders is a really good way to try to solve that problem, however, that tells you how fast the wheel is turning and not necessarily your position. Errors can occur if the rollers do not all roll freely. A roller with a little more tension will introduce some error. Also, you may know how fast each wheel is turning, but not if the wheel is slipping as it runs. A combination of Gyro navigation AND encoders on the wheels will probably give the best results. I have yet to master this but I believe team 33, the killer bees, have an excellent explanation of gyro navigation. Definitely worth a look.

Steve