[Gdeaver]

Back in the fall I got the encoders on a square bot. The encoder shape and mounting spacing makes it hard to get them on a square bot.Yes, you'll have to cut the shafts. Hack saw and file or Dremel tool and a cut off wheel. I seem to remember having to change the gear and motor locations. If you use the encoders to drive straight there is one detail in the reading of the counts. You need to program a flip flop. In other words read the left encoder then the right encoder. Adjust speed. Next time through the loop swap the read order of the encoders.