My team is planning to use a wheel to spin the shooter mounted atop a bearing for our turret. An encoder on the wheel seems unreliable since there could be lots of slippage. Would a gyro or IMU on the turret work or are there any more clever ways to handle the problem? We are planning to implement vision for aiming anyway but knowing the turret position with respect to the field is helpful knowledge.
As you said vision alone would be a highly reliable system. We are planning to use a Pigeon IMU to track position. However adding an encoder could also be a very reliable solution based on your turret design. If you are using belts or chains encoders should be ok. However, I would like to hear about tips and knowledge about this from experienced people as well.
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