Accelerometer success?

[Bongle]

Originally Posted by squirrel

I was thinking about this, and realized that it's probably unnecessary...if the encoders report an acceleration substantially higher than the robot can accelerate (which is a pretty low number, at the rate the encoders report things happening) then you have wheel spin.

There are a couple reasons I like the dynamic approach:
1. It covers more cases. Our robot could get involved in a pushing match and have the TCS still work (in theory)
2. It covers the case where the trailer starts filling up, and the ratio of the robot-trailer system's mass tilts more towards the trailer
3. It works as the field and wheels degrade and their CoFs increase or decrease
4. It works on the carpet.

The static approach will our fall-back if we can't get the dynamic setup working properly.