[MrB]

using an encoding wheel is still dead reckoning. It is far more accurate than raw timing, but both are still susceptible to loosing their bearings on the field.

I know we are set on line tracking (FIRST just posted some code for this to everyone, if you didn't get it running on your own).

So investing time in wheel encoding isn't really worth the effort to get up the ramp. (our strategy.) If you have other plans for the autonomous mode, wheel encoding is probably the BEST dead reckoning method..