[Aaron.Graeve]

Originally Posted by Invictus3593

Haha, he gave the ac = (Vt2)/r equation to use in the case that we were turning, which would throw off our real location; I guarantee you I don't drive in circles! If we updated the rotational acceleration every 10ms and took the average acceleration for that period, do you think would this be a short enough interval to be able to plot location semi-accurately? ...

I suspect 10ms will be a short enough time, but that depends on a few hardware specific circumstances (gyro float and accelerometer responsiveness come to mind). Your team's driving style may also play a role in customizing the algorithm. I am interested to see how this will turn out. Also, have you considered encoders on your drivetrain? I hazard a guess that 2 encoders and a gyro can produce a position close enough for your needs.