[SudoSammich]

Ironically I did actually take a picture of the wiring for our quad encoders last year, but I lost it when I transferred phones and can't remember how we did it without our wiring diagram near me now.

As for the banner sensors (line tracking sensors included in the KOP), they're wired just a *bit* differently from everything else. Blue is ground, brown is power, and the white and black wires are "light output" and "dark output", respectively.

The sensor requires greater than the 5V of power the digital sidecar can provide for it, so you have to wire it directly into the power distribution block (big thing filled with breakers that you use the wago tool to operate, not 100% sure I've got the correct terminology here). Just put the blue into a black and brown into its corresponding red with a 20 amp breaker and it'll run fine.

As for the signal wires, you have to attach a pwm cable to the output(s) you wish to use and plug that cable into the digital sidecar. We're opting to use the light output, which reads "true" when the sensor receives a white input, so we soldered the white wire off the sensor to the white wire on a pwm cable and left the black and red from the pwm alone. This is working for us thus far, and we're just about done with our line tracking code.

Hope this helps!