[slijin]

Originally Posted by ksafin

DS? I thought the encoder went into the Jaguar.

There are two options to connect the encoder.

One is to connect it to the DSC; this option will require two Digital I/O channels because of the nature of the encoder output. If you take this route, make sure that you take care soldering the wires (there are alternatives to connect the wires; search the forums to find them) as they are easily damaged by the heat, and that you solder them correctly.

The other is to, as you note, connect it to the Jaguar via the encoder interface. Note that the E4P encoders provided by USDigital do not have index lines, so that pin is unused. Accessing encoder output through this option is only possible with Jaguars on CAN. Jaguars on PWM cannot react to encoder input nor send it back to the cRIO. You must be on CAN to access the encoder input. I'm not familiar with the specifics; I'll let someone with more knowledge on that elaborate.

Originally Posted by ksafin

Looking into some parts, I found
http://www.andymark.com/product-p/am-0174.htm
http://www.andymark.com/product-p/am-2040.htm
http://www.andymark.com/product-p/am-2043.htm

Are these the parts needed?

it looks like there's a circular part of the hex shaft, and it is meant to protrude from the gearbox, and you attach the encoder there, while the hex protrusion on the other side is used as the normal provided hex shaft would be.

I'm not familiar with the specific parts you're using, but yes, the cylindrical portion of the shaft is where the encoder reads the shaft's rotational speed. If you still have FIRST Choice points left, you may also want to look into getting the encoders from there.