Slip control for a materials handling vehicle

A vehicle comprising:

• a main body;
• a plurality of wheels coupled to said main body;
• a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel;
• control apparatus coupled to said traction motor and generating a motor drive signal to said traction motor;
• a first sensor for generating a velocity signal indicative of a velocity of said driven wheel;
• a further sensor for sensing an acceleration of said main body and generating a vehicle acceleration signal;
• and
• said control apparatus setting a timer for a predetermined time period when one or more vehicle conditions are met and during said predetermined time period determining a measured velocity of said driven wheel from said first sensor speed signal, calculating a velocity of said vehicle using said vehicle acceleration signal, and comparing said measured velocity of said driven wheel to said calculated velocity of said vehicle to determine wheel slip status.