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#22
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I dislike useing an idler, plus you'd have to use 1 on each side so you could calculate the turn as well. I threw out the idea of current monitoring because it has other uses. For example the amps increase when there is a heavy load on the motor, so if your bot had a CVT. The bot would be able to read this heavy load and drop to a lower ratio in order to start shoving. Also if it read slipage you could pulse the motors in order to reestablish traction. Some cars use similar principles to drive in snow::cough cough::. Either way you would have to experiment with this and see what really happens to the current and then have the code recognize each scenario.
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