Hi!  
 
I have searched and cannot find much, if any, info on how to determine how far the robot has gone based on it's speed and how one might go about determining its X-Y coordinates in an arbitrary co-ordinate system. I am pretty sure there are no commands to do this in the firmware (checked) and wondered if anyone else had jerry-rigged a way to do it...http://www.surveyor.com/yabbfiles/Templates/Forum//default/huh.gif
 
any hints, code, strategies, or links to follow are greatly appreciated!
 
Thanks,
smbika