[SteveO]

Our idea is similar to what the StangPS does, we just can't come up with a very accurate way to keep track of our displacement. Optical sensors would work, but were trying to do something simpler due to our lack of team members and resources. We'll probably wind up using an idler with positive only motion attached to an encoder/hall effect sensor to help (but not eliminate) wheel slippage inaccuracies; using the gyro and displacement*cos or sin(gyro).