Thanks for the info. This is for a competition and other robots will be around so that might influence the compass. I am going to be using a four wheel, pretty much like your omni Admin, and I am going to try and put some sort of suspension on it(ME member on my team is working on it). I am planning on putting the mouse on a suspension system as well so it will always contact the ground(I'm working on that). What would be a good choice for a gyro? I am not really familiar with them and I don't really understand which one I should use. I am mostly going to use the gyro to keep the robot from rotating. I do not want the robot to rotate at all, that's why I am going to use omni wheels.