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Originally Posted by CoolerQ
The only problem with that is that you don't get a direct computation of traveled distance, you get a direct computation of wheel distance. If the wheels slip, which they're likely to do if you're driving at a high speed, the distance recorded by the gear tooth sensor could be wildly off. The accelerometer allows you to measure motion of the robot relative to the ground instead of the robot's wheels relative to the robot's body.
--Quentin
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This is a good point. Suppose you were to add two non-powered casters that simply contacted the gound orthogonally in the center of the robot (much like an old ball mouse but without the ball), and put gear tooth sensors on each of them. Then you could sense sideways slip too.
(it's just an idea)