[faust1706]

Originally Posted by Tom Line

The gyro+encoder routine is one that many teams currently use for autonomous. However, over time the errors due to wheel slip, collisions, and gyro drift make it inaccurate enough that you can't really depend on it through the match.

Polar coordinates lend themselves to this use (angle + distance).

We have a constant problem with it climbing, as has been previously said in this tread. To account for the, we had a driver control of a gyro reset. While doing that would defeat the whole project idea, you could use your last calculated point as your new origin and go from there, no?