[Ty Tremblay]

The answers to this question will vary a lot in the field of robotics. In FRC, however, your encoders are often your most reliable sensors on the bot. Proper execution of your motion planning and trajectory following software, with proper tuning, will get you a very consistent autonomous and should be all you need.

The proper answer to your question, however, is sensor fusion. Put simply, sensor fusion is the combination of multiple sensor signals into "one" signal through math and logic. For example, you could use your encoder values along with your robot's geometry to get your angle of rotation, and you could also integrate your gyro's angular acceleration values over time to get your angle of rotation. Through logic, you can then determine if these values are viable and then act upon them.

I would suggest simply relying on encoders in FRC, but if you want to implement sensor fusion, I suggest relying on your encoder values for actual robot movement and using your gyro for checks and balances. (For example, if your robot's wheels are not on the ground, your encoder values will still show the bot as moving, but your gyro will show no angular accelerations other than noise. From this, you can determine that your bot probably didn't move.)