[SBrosious]

Well SPI wiring seems more reliable due to the several complaints with the I2C ports, we figured out the code for the most part and are trying to get the accelerometer to give off values but only 0's. We are trying to see if its wirirng but for the most part we are trying to read a distance value and using the gyro or accelerometer for directional distance. Any ideas on sensors, we are using a encoder but wheel slip makes it severly in accurate especcially with the Mechanum.