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Originally Posted by jzampier
Knowing speed is actually harder than any one has made it out to be.
Shaft encoders are limited by the slip of the wheels. (They tell you how fast you SHOULD be going, not how fast you are going)
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Accelerometers are limited by the huge amounts of noise they generate. If you want a cheap accelerometer... Analog devices makes some 5v ones that will plug right into an analog input on the RC.
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To eliminate wheel slip as a factor, put the shaft encoders on a non-driven wheel.