[ajlapp]

We always implement encoders on the drivetrain, typically on the driven wheels for navigation during auton and to help keep us straight during high speed jaunts across the playing field.

In 2009 we used encoders on undriven wheels to manage wheel slip and to give us accurate slip free navigation data during auton.......we have considered using undriven encoder wheels for other games, but we haven't found good cause for spending resources in this area when operating on carpet.