[ksafin]

Originally Posted by thecakeisalie

So this year we will be using a shooter with two wheels. I believe that in order to correctly control the RPM of each wheel, we would need 2 encoders - one for each wheel. My friend on the other hand believes that only one encoder is needed since the wheels are both running at the same speed.
Which one of us is right and why?

In an ideal world, you would need one.

However, in reality, two would be better.

The performance of motors is, in our experience, quite volatile and unexpected. Minute differences between the states and conditions of the two motors you're using will produce different results. As motors heat up they will also perform differently, spin at difference speeds, etc.

An encoder on both wheels would be ideal; they will almost definitely run at slightly different speeds.