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Originally Posted by Chet Urata
Pardon my ignorance, but can't you tell direction by how you are controlling the motors? Aside from determining if you are getting pushed in the wrong direction by another robot, what is the purpose of using the encoders for determining direction?
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Just to chime in, I have another common example.
-Drive your robot forward and it's no great problem determining direction.
-Now cut all power and coast to a stop.
-You can assume your motors are still going in the last direction commanded, but when is that over? The robot will coast forward, but if it bumps into a wall/goal/robot and drifts backwards the s/w will think the robot is a foot further in one direction when it is actually a foot further back (that's a location error of two feet in this example).