[Bongle]

Just a note:
We went to implement our accelerometer/encoder solution last night, and it wasn't as good as expected. This was partly because I hadn't totally thought it through and thought that simply comparing accelerations was going to be sufficient. I failed to realize the obvious fact that the encoder acceleration would not STAY above the accelerometer acceleration for long, so it is not a good way of telling when the wheelspin stopped. It was an excellent way of telling when your wheel started spinning, but since you can't easily detect when they stop spinning, the algorithm as I described it is not ideal.

We're going to have to get a bit more complicated, with either an estimated velocity from the accelerometer or a trailing wheel to get this working properly.