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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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We've been playing with accelerometers for measuring linear position for a while now, to no avail. We've tried recalulating bias more often, calculating bias for longer, mounting the chip to solid block, mounting it to foam rubber to dampen vibration... but as of yet nothing we've done has yielded anything but erratic readings.
I think we'll stick to encoders.