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cool idea. care to share more? my thought would be continuously measuring antenna impedance over time, and looking for a peak in this signal's spectrum near the rotation frequency. could also try with a photodiode (+ optional light source, or use ambient light) (this would be similar to an optical computer mouse), which i guess could be more directional, and thus give a stronger signal

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Combat robots are more like RC cars than autonomous robots, the driver stays in control of the bot over a radio link. I use ESP-NOW, and get about 6000 packets per second from the transmitter to the ESP32 in the box, and each comes with radio link stats, signal strength and Channel State Information. Using autocorrelation on the signal strength gives you the rotation period, and using that you can establish a Phase Locked Loop to remove the drift of integrating rotation speed to get absolute rotation angle.

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