<wiseguy>
What do you mean, ALL the wheels start slipping?! How is that even possible? Better watch out man, those sudden puddles is the playing arena can really make or break a traction system.
</wiseguy>
All kidding aside, what you describe is very doable. Methods for counting wheel rotations are extremely varied in FIRST, and
this thread does a good job of summing up your various options. As far as programming goes, read up on interrupts. Just search, I believe there are a few white papers on them, and if not, read the documentation. Hope that works out for you.