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Originally Posted by Chet Urata
I could be wrong, but it seems to me that with only two encoders plus the gyro and the accelerometer, you would get more information with the encoders on different sides than you would by mounting both on the same side. With mounting on opposite sides, you can count teeth on both sides, yielding distance and difference in speed between the two sides (again, not counting slippage).
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In theory you are correct – both sides are better then just one and you should be able to tell what direction the robot is going with an accelerometer. It reality though, having 2 sensors makes everything easier (you don’t have to integrate acceleration data, which may be controlled by a separate processor), and since the kit only supplies 2, most teams will only have 1 side equipped with sensors. If the kit came with 4 or more sensors, you would see people put 2 on each side.
Hope this answers your question