[windell747]

Has anyone considered using an omni-wheel to act as an encoder wheel? I agree with the last post that other than an encoder, an accelerometer can be used to correlate the bots acceleration to what the wheel's angualar acceleration is. The wheel's angular acceleration can be figured out using the kits's encoders. If there is a deviation then you would know that the wheel is slipping and will need to slow down the drive wheels to regain traction. It is important to note however...for this method to work it is assumed that the bot's acceleration is due only to the wheels. If another bot is pushing your's or you hit something while trying to maintain traction, it will be harder to sort out (using the accelerometer and wheel encoder method) wether or not your bot has lost traction due to wheel slippage.