Implementing Traction Control for an advantage in the 2009 game

[Jared Russell]

You can try integrating the acceleration signal to get velocity, and then comparing velocities to detect slip. The problem is that a noisy accelerometer signal looks even worse once it's integrated. For this and other reasons (one being the simplicity of an apples to apples speed comparison in code), non-driven encoder wheels lead to a better solution to this problem in my opinion.