paper: DIY 'encoder stage' for VersaPlanetary

[Nate Laverdure]

Originally Posted by AllenGregoryIV

We just posted our version of this modification to our blog.

GREAT improvements! Thanks for the excellent documentation.

As far as epoxy vs RTV silicone:
We were going to use RTV at first, but after a short debate we chose a potting epoxy that my professional colleagues use. The internal magnet(s?) within the Allegro package are quite strong, and when the steel gear is nearby there is a significant attractive force between them. It's probably a dynamic force as the gear rotates. Had we suspended the sensor in a flexible potting compound like RTV, we were worried about the effects of the induced vibration.