Determining Motor Speed?

[ksafin]

Hi all,

Right now we have a CIM-U-LATOR gearbox hooked up to a modulox gearbox.

We want to get the speed of the overall output.

So, a few questions

1) Does the encoder fit on the CIM shaft?
2) If it does, then I assume we'll need to put it on the CIM shaft and perform math in the code to find the speed after all the gearing within the gearbox?
3) It's very high up on the robot, and the encoder wire seems short. Any suggestions?

EDIT:

Looking into some parts, I found
http://www.andymark.com/product-p/am-0174.htm
http://www.andymark.com/product-p/am-2040.htm
http://www.andymark.com/product-p/am-2043.htm

Are these the parts needed?

it looks like there's a circular part of the hex shaft, and it is meant to protrude from the gearbox, and you attach the encoder there, while the hex protrusion on the other side is used as the normal provided hex shaft would be.