DOCS-906: Document wheeled-odometry model of movement sensor

docs/components/movement-sensor/_index.md

@@ -38,6 +38,8 @@ Model | Description <a name="model-table"></a>
 [`accel-adxl345`](./adxl345/) | The [Analog Devices ADXL345](https://www.analog.com/en/products/adxl345.html) digital accelerometer
 [`gyro-mpu6050`](./mpu6050/) | A gyroscope/accelerometer manufactured by TDK InvenSense
 [`merged`](./merged/) | A model that allows you to aggregate the API methods supported by multiple sensors into a singular sensor client, effectively merging the models of the individual resources
+[`wheeled-odometry`](./wheeled-odometry/) | A model that uses [encoders](/components/encoder/) to get an odometry estimate from a wheeled base
+
 [`fake`](./fake/) | Used to test code without hardware
 
 ## Control your movement sensor with Viam's client SDK libraries

docs/components/movement-sensor/wheeled-odometry.md

@@ -0,0 +1,64 @@
+---
+title: "Configure a wheeled-odometry movement sensor"
+linkTitle: "wheeled-odometry"
+type: "docs"
+description: "Configure a wheeled-odometry movement sensor."
+images: ["/icons/components/imu.svg"]
+tags: ["movement sensor", "components", "movement sensor"]
+# SMEs: Rand, Martha
+---
+
+Configure a `wheeled-odometry` movement sensor to implement _wheeled odometry_ on your robot.
+
+_Wheeled odometry_ is the estimation of the rate of change of position, orientation, linear velocity, and angular velocity using the dimensions of a base, calculated by measuring the movement of the motors through encoders.
+This model uses [encoders](/components/encoder/) from [position reporting motors](/components/motor/) to get an odometry estimate of a wheeled base as it moves.
+
+With a configured `wheeled-odometry` movement sensor, after every time `time_interval_msec` elapses during a [session](/program/apis/sessions/), your robot calculates an estimation of the position, orientation, linear velocity, and angular velocity of the wheeled base.
+You can access these readings through the [movement sensor API](/components/movement-sensor/#api).
+For the best accuracy with odometry calculations, it is recommended you configure a time interval less of than `1000` milliseconds.
+
+After configuring a `wheeled-odometry` movement sensor, you can operate your base with Viam's built-in services like the [navigation service](/services/navigation/).
+
+## Set-up requirements
+
+To prepare your robot, attach [encoders](/components/encoder/) to each of the position-reporting motors on your base to measure their rotation.
+
+- Pick out motors that can report their own position, like an encoded [`roboclaw`](/components/motor/roboclaw/) or [`gpio` motors](/components/motor/gpio/) with [encoders](/components/encoder/#configuration), or the [`odrive`](/extend/modular-resources/examples/odrive/) module.
+You can access this property of a configured motor through the [motor API's `GetProperties()`](/components/motor/#getproperties).
+- Configure your rover as a [wheeled base component](/components/base/wheeled/).
+Make sure to configure the base width and circumference, as these measurements as a property of the base are vital for accurate odometry estimations by your movement sensor. This movement sensor accesses these values through the base's `GetProperties()` API method.
+- Configure each of the position-reporting motors [as motor components](/components/motor/).
+- Then, proceed to [configure](#configuration) a `wheeledodometry` movement sensor with the name of each of the motor components.
+
+
+## Configuration
+
+Navigate to the **Config** tab of your robot's page in [the Viam app](https://app.viam.com).
+Click on the **Components** subtab and navigate to the **Create component** menu.
+Select **Raw JSON** mode.
+Copy and paste the following:
+
+```json {class="line-numbers linkable-line-numbers"}
+"name" : "<your-wheeledodometry-movement-sensor-name>",
+"type" : "movement_sensor",
+"model" : "wheeledodometry",
+"attributes" : {
+    "base" : "<your-base-name>",
+    "left_motors" : ["<your-base-left-motor-name-1>", "<your-base-left-motor-name-2>"],
+    "right_motors" : ["<your-base-right-motor-name-1", "your-base-right-motor-name-2>"],
+    "time-interval-msec": <number>
+}
+```
+
+Fill in and edit the attributes as applicable.
+
+## Attributes
+
+The following attributes are available for `wheeledodometry` movement sensors:
+
+| Name | Type | Inclusion | Description |
+| ---- | ---- | --------- | ----------- |
+| `base` | string | **Required** | The `name` of the [base](/components/base/) to which the encoders making up this movement sensor are wired. |
+| `left_motors` | object | **Required** | A list holding the name of each of the bases' left [position-reporting motors](/components/motor/gpio/). |
+| `right_motors` | object | **Required** | A list holding the name of each of the bases' right [position-reporting motors](/components/motor/gpio/). |
+| `time_interval_msec` | number | Optional | The time in between each wheeled odometry calculation. <br> Default: `500.0` </br> |