[David Brinza]

Originally Posted by JamesBrown

I would reccomend using a pot instead of an encoder, they are much easier to work with.

Amir:
You understand that the encoder generates pulses as the arm moves, whereas a pot will provide an analog voltage that corresponds to the position of the arm? If you use the encoder, the software will need to update the position of the arm as pulses are detected. With a pot, each time you read the analog port it is connected to, you get instantaneous position data. This is why teams generally use pots on arms rather than encoders.