Quote:
Originally Posted by asteb27
We are using two cim motors hooked up to each wheel.
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I am reading this literally to mean that each wheel has 2 CIM motors. If that is what you meant (probably not? but that's the way it reads), then yes you need only one encoder. The effect of the differences mentioned in the earlier post by ksafin will be that the motors don't share the load exactly equally (i.e. their torques will not be exactly equal).