I am working on a project that requires the robot’s displacement from the starting position to be known. The only useful sensors that I have are two encoders, one on each side of the robot, and a gyro. My general idea so far is that the encoders can be used to measure how far the wheels have spun. This can only be used to find displacement when driving in a straight line. I think the gyro could be used to correct for the turning of the wheels. I can also take multiple measurements along the path if needed.