[mrnoble]

We would like to use the encoder to measure the rotations of the wheel per second then multiply by the radius of the wheel in order to find the distance the wheel should be traveling (theoretical distance). Then we would use another sensor to measure the distance our robot has actually traveled. If the actual distance is less than the theoretical distance our wheel is slipping. Do you have any suggestions on the sensor we should use to measure the actual distance traveled or any suggested code we could use in order for the change in speed of the motor, in turn lowering or speeding up the rev/sec., to be automatic?