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Re: Encoders.....
Kevin Watson recommends the Grayhill 63R256 and 61K128 I think you can get these from Newark. I've never used them but they have pins for the connectors and that may use some kind of 4 wire plug.
I personally like the EM14A0D-C24-L064N by Bournes a 64 count encoder but hard to wire up.
Both encoder types are about $25
OR you could look up banebots encoders for the cim motor. These appearently work well too.
Steve
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