[apalrd]

Or a worm gear. That would probably provide all of the reduction you would need.

I would probably mix a pair of encoders, a gyro (maybe) and an inclinometer. The encoders would determine wheel speed and distance, the gyro would (as usual) determine rotational velocity (Although you might have to do some stuff to keep it sensing correctly, or just use it when in a known orientation), and the inclinometer would detect the ground. An accelerometer *might* work but would be affected by the robot's forward velocity. A weight on a pot would work as well, but would have weight to it (and weight is always a bad thing).


David - about servos - They are weak motors with built-in logic to steer to a certain position, and work the same as a motor, Victor, and pot. Except they are weak. With a CIM or Fisher-Price as the motor, you have significantly more power, which with gearing means you can drive whatever load you must drive faster. Any motor can move the load, but a more powerful (not necessarily a higher/lower free speed or stall torque, but output power, measured in Watts) motor can perform the task faster.