pic: 2012 FRC971 Transmission Actual

[James Kuszmaul]

Originally Posted by DampRobot

And just to be clear, did you ever end up using them? In my experience, they are often a pain to design in, and not that useful for the programming team.

The encoders were/are used.

The encoders are mounted to a hole on the inside of the drive train, and are driven by a pair of plastic gears, one of which is mounted against the wheel, the other on the encoder. We have one encoder on each front wheel, although because of our ball intake and barrier-traversing skids, the space in the front of the robot is crowded, so it might've made sense to put the encoders on the back wheels.