How are teams mounting drivetrain encoders on WCD?

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Originally Posted by AlexanderLuke

In the past with our fully custom WCD systems, Team 696 has placed encoders on the drive shafts of wheels other than the output shaft of the gearbox. It was perfectly reliable for us, with no slippage of the encoders or wandering of the encoders out of the shafts during practice, competition matches, or offseason events. I do not personally see any reason for us to change this practice in the future for such a setup.

We have often relied on US Digital S4 encoders for drivetrains and other systems, which are now replaced with the S4t as far as I understand. We have not had any experience with the S4t.

One tip for encoders in shafts though: feel free to use some hot glue to aid in the interface between the encoder shaft and the shaft it is connected to. This will certainly help in keeping that encoder from slipping inside the shaft, or the encoder from becoming removed from the shaft unintentionally.

Did your team experience any backlash with mounting to the drive axle? One of my teams mentors is worried that we will experience backlash if using PID on the drivetrain if mounting to the axles.