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So would you then detect slippage for correction by looking at variations in sensed speed for a constant input?

You could look for "wheels stopped/stuck" by noticing the motor's not turning. There's also current feedback node on the motor driver. You could connect that to an analog input on the arduino and then detect "wheels spinning in place" by seeing that the motor was turning (quickly) but the motor current was low (ie, little load).

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