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What sensor are you using?
How does your robot know which way it is going?
What if a wheel slips just one degree every 5 feet and error builds up over time, how do you plan for the robot to correct itself?
Why do you need 16 bit?
I'll just be using infrared sensors.
What ever direction it starts off facing, will be considered "up". I'd love to add a digital compass/gps, but as of right now, I just don't want to do the extra work, and have to buy new hardware.