[Mk.32]

Originally Posted by Mark McLeod

Several different ways.
You just have to avoid side loads on the encoder shaft, so usually we use an L bracket to hold the encoder and a flexible coupler, e.g., a short segment of pneumatic tubing, as a coupler directly to a shaft, like you would to replace the KOP encoder on an AndyMark gearbox.
We've also used a hardware shaft coupler available from McMaster and elsewhere.

Here's a photo of a mount (from our 2004 robot) using plastic gears to couple to a drive train.

We've also used a sprocket w/ #25 chain on a special purpose turret. The sprocket has to be supported at both ends on a separate shaft, so the encoder doesn't carry any load.


The Grayhill model I mentioned is a digital input.

Oh my bad, then could I just use the encoder class built into the JAVA api to run it?