[esquared]

Encoders can be used to obtain "absolute" position by generating an index pulse using a switch that is hit when you move past the position you'd like to call 0. We used this feature for our arm's manipulator on last year's robot.

Encoders are nice when you want to make something spin more than 360 degrees, just create a function that watches for X number of encoder pulses and shuts the motor down after that occurs. If you keep counting pulses even after the motor "shuts down" you can keep track of how much further you went as a result of inertia and other delays.

I can give you the code we generated last year to do some of these simple motion tasks. It's ugly but it works and I'll actually share it all with you instead of keeping the "secret sauce" to myself. Send me a PM on here if you are interested.

Best of luck with your rookie year,
-Eric