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Re: Shaft Encoders
for several years now we have used hall-effect shaft encoders tied directly to the output shaft of our gearbox and they have not failed us yet. we rely on them heavily in autonomous mode and during normal operation to make the robot drive straight.
a suggestion to make the robot drive straighter and eliminate any joystick inaccuracies may be to write in the code that if the sticks are within 5 or so counts of each other the same output is sent to the speed controllers. PM me if you would like any more details. id be more than happy to help! 
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