[biojae]

Originally Posted by AdamHeard

Pretty solid results have been achieved with just encoders and a gyro. I think the entire 08 season was a testament to this.

so just a simple formula like

X pos = X0 + (((Left encoder + Right encoder)* wheel radius) /2 ) * cos(Gyro Theta)
Y pos = Y0 + (((Left encoder + Right encoder)* wheel radius) /2 ) * sin(Gyro Theta)