pic: Team 1983 Fall CAD Project

[Ninja_Bait]

Originally Posted by Chris Fultz

A follower wheel can have an encoder type of device connected to it to track distance traveled. Since it only rotates if the robot is actually moving, any wheel slip does not corrupt the distance measurement.

These were valuable in a game like the Rigolith game, where there was significant wheel spinning.

I imagine it is also very useful for mecanum, where it can be hard to predict exactly how the robot will move based on encoder values coming directly from the wheels, especially when strafing at odd angles.