[IronicDeadBird]

Originally Posted by gpetilli

I know one team at the Fingerlakes Regional about 5 years ago won the Innovation in Control award for using a mouse for movement sensing. The last we looked at trying this, the modern mice were too precise (6000 pulses per inch) and the cRIO could not handle the pulse rate.

What we did last year and intend to do again this year is to use two smaller omni-wheels (VEX 2.75in) with encoders mounted orthogonally square to the frame. They directly measure the actual motion, not the intended, wheel slip free, motion. The important thing is to ensure the un-powered follower wheels are always in contact with the floor.

Stay in touch man that sounds like an awesome thing to do. It's like the ABS system on your car minus the annoying noise it makes. I'm interested in seeing how well that works. Albeit this year sensing when your robot is being pushed and getting feedback on that isn't as helpful as last year it would still be a nice off season project for some member.