WCP vs Vex Ball Shifter

[JesseK]

Originally Posted by asid61

As stated above the encoder attachment is nice. If you have a lathe sticking an encoder on the WCP one is quite easy either by modifying the gearbox upper shaft or on the drive axles. I would just go with whatever is cheap (assuming you can get over the encoder stuff).

Use caution if you mount the encoder to the first stage of the WCP. This injects a dependency on the pneumatic setup and the 'default' gear in code just to get accurate counts. The real danger is that someone swaps the tubes on a single solenoid setup so that the physical 'default' gear is swapped, yet no one thinks to change code before testing autonomous. The result of that (from experience) is that the robot will go way further at a very high speed, and the bookshelf at the other end won't survive.