[Taylor Hawkins]

Hello,

Can we get some more information, What encoders are you using? How many pins do you have on the encoders.

Generally speaking, depending on the encoder your going to have 4 wire, (Positive, Negative, Signal A, Signal B). Encoders are digital inputs for the Roborio to use. The positive and negative pins will go to the positive and negative pins on the roborio, The signal A, will go to the signal pin of the DIO slot. The same thing is true for the signal B however that wire will go to the signal pin of a different DIO slot.

Using the 2 signals that the encoder gives you, you can determine the direction that the encoder is rotating and the speed of rotation.

Taylor