[jgannon]

During the off-season, I added a potentiometer to last year's robot as a coding exercise in preparation for this year, so it can be done after the robot is built. At the very least, request that your team leave at least one end of every shaft on your robot exposed. It's not too difficult to build a little mount, and then you can couple an encoder or potentiometer to whichever shafts you decide you'd like to measure. We used plexiglass for the mount, and fuel line to couple the shafts. It's not the neatest way of doing things, but it will work, and it allows you to focus on more important tasks in the mean time.