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Re: Autonomous speed
You're provided with an "electronic compass", or rather, a Yaw Rate Gyro. It's part of the sensor strip that has the accelerometer and gear tooth counters attached.
Look around on the forums here for explanations on how to use it.
In combination with encoders (either binary encoders like the provided gear tooth counters or quadrature encoders, which also determine direction), you can determine your position decently.
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