[Al Skierkiewicz]

I was also referring to sensors mounted on the wheels, a convenient method of tracking robot movement for auto mode. Slip rings were legal in the past and may be legal in the future. Although cool in some respects, continuous rotation is generally never needed nor does it supercede the need to use inefficient bevel gears. Although they look good on paper, mechanical guys can discuss the unique problems with alignment and power transfer better than I can.