Quote:
Originally Posted by Bongle
We're comparing the accelerometer-reported acceleration with the acceleration reported from our encoders. If the encoders report an acceleration substantially higher than the chip, we know we've got wheelspin and should probably do something about it.
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I was thinking about this, and realized that it's probably unnecessary...if the encoders report an acceleration substantially higher than the robot can accelerate (which is a pretty low number, at the rate the encoders report things happening) then you have wheel spin.