[Oblarg]

449 tends to use WCP gearboxes.

If we're using a SS gearbox, we place the encoder on the gearbox output shaft, mounted under the motors.

If we're using a DS gearbox, we place the encoder on a wheel shaft.

The latter can be a pain if you're using chain and need adjustability (such as w/ versablocks) to maintain tension, but there are workarounds (such as slotting the mounting holes for the encoder bracket).

We used to use thick surgical tubing for the coupling, but found that this actually causes a fair amount of noise in the encoder reading (my best guess is that the torsional flex in such a coupling leads to something like a stick-slip behavior, but I have no way of actually testing this). We now use helical beam couplers instead.