After getting one of
these, I was looking for a fun project to do, and decided to try to determine the difference in the GTS pulse widths between a clockwise and counter-clockwise rotation. The end result is that I have a small PIC processor receive the GTS pulse and indicate a clockwise rotation by changing the state of an output pin. A counterclockwise pulse changes the state of a second output pin.
These signals could then be connected to any two of the RC's digital inputs 3-6, and the interrupt on change capability of the RC can utilized as desired. Our robot doesn't use gear tooth sensors, but if a team or two going to Atlanta would like to play around with one of these, then let me know and I'll bring a couple. All you would need to connect them up to an existing GTS is a couple additional PWM cables. A little bench testing with a GTS seems to indicate that it works fine, but I have not tried it on an actual robot.
Mike