[KohKohPuffs]

Originally Posted by asid61

The debate on whether encoders should be placed in the gearbox or on the wheel came up recently in another thread. In the end I took away that placing it in the gearbox is both safer and gives less backlash (thus is easier to apply controls to).
You could put something like an S4 encoder on the end of nearly any shaft in the gearbox it seems. Just put a hole in the end of a shaft and add a set screw.

Mmmm... not really because of the aluminum box tube that the gearbox is mounted on. Also, I still don't like the notion of placing the encoder on the front plate, where... wait, we have bumpers this year, so hopefully those might provide protection from manipulators from other robots.

But don't forget the shifter pistons on the other side; there are two of them since this is dual speed and PTO. I could perhaps do the idea where we use small gears to connect the output shaft to the encoder. Perhaps use a shoulder bolt as a shaft for the driven gear.