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Originally Posted by sparksandtabs
that is an awesome idea, i deffinately will try it when i get the money for 2 encoders!
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If you want to be really cheap, you can use an IR light sensor and an IR LED (or a photointerrupter - same thing but both are in a neat little plastic package). Get a plastic disk, then use some sort of IR opaque material to put stripes on it. Or, you could start with an IR opaque disk, then cut slots in it.
Depending on how advanced you want to go, you might want to try out
PID. If you have wheel encoders, it'd be interesting to get it to go through an obstical course (probably just ramps or sticky stuff if you don't have any other sensors) at a constant speed.