Ok, back ground info first. This year, I want to write a code that keeps track of my Robot’s exact location on the field. At first I wanted to use an Accelerometer and 4 Ultrasonic Range Finders to do this task by checking the distance to the wall on each side using ultrasonic sensors. The Accelerometer would be used to make sure the value are staying somewhat accurate and resetting ultrasonics if not (like a safeguard). However, I realized that the only place I could put the ultrasonics would be about 3 inches off the ground. But then the balls would affect it. So, I thought about using 4 Motor Encoders on my Mecanum Drive and calculating the exact amount of Encoder ticks that the field is. I know how what to do to increase and decrease my Y position on the field. This is where my question comes in, how on earth would I know my X position on the field when I’m strafing? I have been stuck trying to solve this myself for 4 hours and have come up with nothing. Does anybody know a way to use my Motor Encoders to increase and decrease my X value when strafing?