Encoder: Encoder Kit AMT103-V (fc17-033)
they will be wired into the RoboRio. They are mounted on the out put shaft of the drive gear boxes. one on the left and one on the right. There is no gear ratio because its on the out put shaft and not on the motor it self. We are gonna be using arcade drive. The wheels are the 6 inch wheels (
http://www.andymark.com/HiGrip-Wheel...?1=1&CartID=0). The motor controllers we are using are the 2015 Talon KOP controllers and those are using PWM.