[Team 288]

2468: How did you attach your 3D printed gear to the shaft of the encoder?

We centered our encoders manually before giving the robot to the programming team. First we pinned the wheel in the "zero" or straight forward/reverse direction. Then we powered up the absolute encoder and hooked up a voltmeter to the output of the encoder. We turned the encoder until it was at very very close to 0 volts (most of them were at 10mV) then we installed the gear and locked it in place. The play in the gear translated to the wheels being in their "zero" position and the encoder going from just above zero to just below zero volts. This allowed us to give it to the programming team with no need to correct for the encoder.

Your method seems like a much easier hardware solution.

BTW: It's always great to see other teams using aircraft Clecos to build their robot. We use them on everything! We've even sent the bot onto the field held together with them temporarily.