Best Kitbot Drivetrain Encoders

There have been several threads about this and many people recommended CTRE mag encoders. When trying to do robot characterization last year I ran into a lot of trouble with the noise mentioned at the bottom of the page here.

Is this noise better understood yet? What is needed to more fully investigate this issue?

Assuming this issue can’t be worked around what other encoders would people recommend for the KitBot?

grayhill encoders are a good choice, but honestly, if you’re running brushless motors the encoders in the motor that are used for commutation will be just fine.

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Agree with @21brownz, internal encoders can be used well for relative positioning/speed control.

If you need a part number, been using the 63r256 for years: