Encoders and odometry

Along with knowing how many RPM my wheels will be spinning, I can calculate velocity. With the dimensions of my wheels I can calculate distance. And with the dimensions and layout of the wheels to the center of the bot, I can calculate angle. David Anderson has a great site to dicuss these and showcase his robot SRO4. Be sure to have a look at his writeups towards the end of the page.

Also, I have found a nice lab pdf that uses the AVRlib to do quadrature encoding.

Onward,
Jay