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accelerometers
I did something kind of like that last year, except I did this:
I had a gyro chip, and then rotary encoders on the wheels. I was worried about using an accelerometer, because in order to get position, you need to integrate them twice. So, once the velocity gets off by a little bit, your position will start "drifting." I never actually tried using an accelerometer; maybe this isn't as big a problem as I thought.
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