Banebots sensor recommendation (Repost)

[EricH]

Figured I might get a wider audience here after two days of nothing here.

For a non-FRC application, I have a BaneBots RS775-12 going through a Banebots P60 gearbox. Now, for this particular application, sensor feedback is not optional, it's mandatory. (Something about this being a fully-autonomous vehicle if at all possible.)

So, my question is, has anybody integrated an encoder with a P60, and if so, can some details on encoder type/mounting method be provided?