> I used a pot to measure tilt for simplicity.

I assume that you mean a pot with a weight hanging from it on an arm?
This would measure both tilt AND acceleration forces from motor drive, 
braking and any terrain induced movement (as would many other forms of 
tilt measurement). Motor drive accelerations could be inferred but the 
others largely could not. Was accounting for these components 
difficult?


        RM

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