My team is working on a versachassis drivetrain using the WCP DS gearboxes. We bought all the parts and are assembling them, however, we are not sure exactly how to mount encoders. Our team does have a lathe so it would be possible to tap out one of our axles and add a 1/4" shaft with a custom encoder mount… but we would rather not create a custom mount. Has anyone here ever used WCP DS with encoders?
The standard practice with a WCD is to simply cut a 1/4in hole into one of your drive axles and press an encoder into it.
Here is a picture: http://media.team254.com/2013/02/280705b8-DSC_0257.jpg
You could check out this post here. I would also check out the thread itself.
The WCP DS is not designed to mount an encoder, as for shifting gearboxes this will cause complications when writing code to calculate distance travelled etc. However, there is a very nice 3D printed part which should allow you to do this. It utilises the CUI encoders that were available in FIRST choice this year.
For a WCD the most common thing, is either drilling a hole in an axle shaft and using a grayhill encoder. But it can have alignment related issues. The other method, is turning the shaft down on the lathe to a rod, the same diameter as the encoder shaft, and joining them with a flexible shaft coupling or just a piece of KOP surgical tube( backlash is not a major problem).
You could also try to use the new CTR mag encoders.