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Originally Posted by devicenull
While pure timing works, I wouldn't recommend it. You loose accuracy as your battery dies, or your transmissions become easier/harder to work with. The other way to do that would be with encoders, which take a little more to set up, but should be more accurate.
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Another option is to measure your distance based on the camera. If you are already tracking the green light with your camera, it only requires a bit of trig to figure out your distance of travel based off of servo movement.