I just want to thank all of you that have posted useful information in this thread. It has helped us greatly! We only have one student programmer and one mentor that do programming on our team.
For the first time this season we finally have a "smart" shooter...
It took us three nights this past week to get things sorted. At first we tried a banner sensor, but it only had 12 "ticks" per rev at random reflective tape spacings.
Saturday we connected up a Grayhill 64 bit encoder to the wheel axle.
We were able to get it somewhat tuned in for fender shooting.
The only current downside is that the encoder is rated for only 5000 RPM's and we exceed that.
FYI we are using two Banebot 775's for the drive, two victors, and two Shepherd 6" wheels.