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Re: CIM MOTOR Encoders?
Except on motors with a backshaft (like the AndyMark PG series), the selection of encoders will depend on your gear train, not on the motor. After you've determined what gearbox you'll be using (or building), you will have a somewhat smaller set of encoders to consider (or a possibly more difficult job of mounting them). Encoders are usually mounted at the slow end of the drive train (wheel axle), not the fast end (motor shaft).
For items with a limited travel distance (arms and lifts, not wheels), you may want to consider potentiometers rather than encoders - they're usually less expensive, inherently absolute rather than relative, and a bit more straightforward to code.
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Programming isn't that hard once you get the hang of it. It has a steep learning curve like math. One day your trying to figure out 1 1, then the next day they throw x and y at you. Once you understand what x and y represent and learn to think in terms of functions, it's as easy as pi. - sciguy125 [more] 
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