[Invictus3593]

I worked on a similar project before this season started, but I never made any headway as I ran into a few problems.

There are two methods to accomplish this, by my research: Accelerometer/Gyro and Encoders/Gyro

The Accelerometer/Gyro method would involve a lot of math and physics to get right, and it does seem like the most viable option with the least parts required, but (like rich2202 said) an accelerometer would read any acceleration, including getting bumped or going over a bump. Even moving forward and then reversing very quickly could mess up your positioning and give you incorrect readings due to the inaccuracy of the accelerometer. Also, you would have to figure out radial acceleration for turning, both the accelerometer and the gyro will be giving you readings there. Which one do you take as fact and which ones do you ignore and how?

The Encoder/Gyro method might be a more accurate option, but it has a little bit more physical impact on your robot. From my research, you would need to have 2 undriven omni-wheels (one north-south and one east-west) with encoders on them. These wheels aren't like your driven ones because when your bot gets bumped, these would move with it, not against it, giving you an accurate reading. You then use the encoder data to measure distance traveled in each direction relative to the gyro heading at each point.

There was a team that used gyros and encoders in a previous game to plot field waypoints for their autonomous mode, but it never measured where the robot was, just told it where to go.

This would be really neat and I'm willing to help in any way I can!