[sraque]

We have used the grayhill ones for several years and they work very well (even the 128s are good enough for most drive applications). As mentioned, though, they do not have locking connections. We use hot glue for these.

If you are using Talon SRX's for your drivetrain, there is no need to have the dual output since the Talon will keep track of position for you. Other than swerve drive wheel angle, I don't know of an application for an absolute encoder on a drivetrain.

I am probably missing something, but I didn't see a link to complete tech specs for the WCP encoder. I would not recommend any encoder where we could not get to full tech specs (pin outs, signal specs, etc.) on-demand and easily.