Encoder

[GeeTwo]

Originally Posted by NathanCJohnson

We're using the one that came in the Kit of Parts (http://www.andymark.com/AM14U2-p/am-14u2.htm). But we're using 6" traction wheels in the front and 6" omniwheels in the back (the middle wheels are the 4" wheels that came with the KOP drivetrain).

Originally Posted by Ether

You said the middle wheels are 4" and the front/back are 6". Have you geared them in the proper 6:4 ratio so they are going the same tangential speed?

Unless the chassis has been modified (drilled more holes) it isn't necessary. The center axle on the AM14U2 is only dropped 1/8". Since the corner wheels are 2" larger diameter, the 4" center wheels float 7/8" off the carpet. In effect, the 4" wheels are just a spacer for the belt sheaves.

We did something similar with our H-drive, though since we used 4" wheels on the corners, we cut the rubber off the center wheels so they would float.