[dtengineering]

A simpler, but less precise way to do this is to figure out what the maximum possible accelleration of your robot is (theory and experimentation), then tune the controls so that your wheel speed does not accellerate faster than this. In this set up you only need one encoder from each side of the drivetrain... but at the cost of getting real-time feedback from non-driven wheels.

You might want to try graphing the wheel speed of your robot (again, you'll need encoders) with a computer attached to the driver station and see if there are sudden spikes in wheel speed to determin when slipping occurrs.

Mind you, we have yet to experiment with this... we're still waiting for our missing KoP parts to arrive and they are kind of crucial to this task. (We do, however, know they are on the way.)

Jason