[Joel J]

Yea, but the velocity reported is, simply put, crappy. Velocity calculation from accelerometers is very hard in the sense that the results are noisy, and the noise readily amplifies with each integration. I'm sure you understand this.

The accelerometer isn't useless though. It can be fused with the gyro, to eliminate most of the bias. Saying this can be done is one thing, but actually doing it is an altogether different thing.

The accelerometer shares the same weakness with the encoders--they are both sensitive to BUMPs, and other "high frequency" changes--and also the same strengths: they are both pretty consistent over the long term. Therefore, fusing the accelerometer with the encoders might not be as fruitful.