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If the vehicle is running in a straight line, then unless you want to use accelerometer data from the IMU or position data from the GPS (not recommended, unless it's very accurate), I think you'd be better off just integrating the wheel encoder data yourself. Can you maybe describe what you want the vehicle to do in more detail? Do you want it to drive straight forward, then return to its exact starting position, and repeat, or will you reset it to its original position? How long is the straight line that you want it to drive?