How are teams mounting drivetrain encoders on WCD?

[ollien]

Originally Posted by gc_coxen

My team is experimenting with WCD this summer and we've begun discussing the various ways to go about mounting encoders. The three options we've thought of are mounting to the ouput shaft of the gearbox, mounting to one of the wheel axles, or utilizing a CIMencoder.

What have your teams used and what have you learned from it? Pros? Cons? Would you do anything differently?

While my team has not built a WCD, I just want to say that I cannot recommend the CIMCoder. 2/4 of ours stopped functioning by competition season and I have heard of their shells cracking in high vibration applications.

YMMV

The method I have heard most commonly is mounting something to the output shaft of the gearbox, using something like an SRX Mag Encoder.