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Originally Posted by Andrew Schuetze
Our design meeting tonight settled on four omni-wheel drive system. Since there is significant scrub when driving forward, optical shaft encoders can't reliably calculate distance traveled. Correct 
I would then think that one would have to use some combination of the gyro chip and acceleration sensors and an integral function to keep track of robot displacement. 
This will be a new venture for our programming team this year. I'd appretiate any suggestions for code resources. 
Thanks,
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In my experience, an inertial measurements unit is difficult to keep accurate if you integrate over a long period without a Kalman filter. Also, keeping track of the inertial measurements will consume a lot of your processing time, so depending on what else you plan to do, it may not be worth it. This year's challenge seems like it is far less necessary to know exactly where you are. It should be sufficient to be able to see your target and at least keep facing toward the correct end of the field.
Best of luck!
-Joe