[Gdeaver]

In my opinion the gear tooth sensors are a pain. A cheap alternative solution is to use the vex encoders in place of the gear tooth sensors. They work with the same Easy-C functions as the gear tooth sensors. They are also higher resolution. They can be added to the kit chassis and frame very easily. The KOP trans output shaft is tapped. A piece of threaded rod can be coupled to a piece of 1/8" key stock. Attach the encoder with a piece of 1/16" aluminum angle. You'll need a female by female PWM extension cable.
Works very well for going "x" feet during autonomous. Could easily be done Thurs. morning.