[Gdeaver]

I'd like to see a add on optical encoder module for the KOP transmission. All that would be needed would be a gear meshed to the output gear with a 1/4" shaft. There are optical quadrature encoders that can be had for less than 1/2 the cost of the Grayhills. A code wheel with a dual photo interrupter module could be done for even less. Add a coprosessor to handle the counting. Make it programmable so that it could be set to pull a pin low after so many counts. Also the current count and calculated velocity could be sent out to the TTL serial port either by query or every so many ms. Add some interface code in the default code and there would be no reason for any team to sit and do nothing for autonomous next year.