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Originally Posted by kramarczyk
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Indeed, I have.
Many of these work only if there is no slippage, or (as in the encoders) if you aren't slipping while in a pushing match (sometimes with a wall). The followers are arguably the best solution as they can sense what your real integrated displacement is, assuming they don't slip, and with care and thought you could model most of the turns and dips.
It does require contact, however, and I think back to the "Moon" competition where we were unsure if followers would be allowed. A non-contact type sensor would be ideal- which limits you to optical, sound, or ? But then that's the problem with all sensor platforms... they must keep getting more and more complex to filter for the undesirable motions.